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drexel_mm_uav_status [2016/11/06 03:02]
dwallace
drexel_mm_uav_status [2016/11/06 17:13] (current)
dwallace
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   * Test 2 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task with compliance   * Test 2 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task with compliance
  
-{{#ev:youtube|jqsE0pxuHic}}+{{youtube>jqsE0pxuHic?large}}\\ 
  
   * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task   * Test 1 - Gantry mimicking UAV motions with Cartesian-controlled end-effector performing insertion task
  
-{{#ev:youtube|8v9IakOn1ak}}+{{youtube>8v9IakOn1ak?large}}\\ 
  
   * Gantry playing back log file of x-y-z positions and velocities of UAV flight   * Gantry playing back log file of x-y-z positions and velocities of UAV flight
  
-{{#ev:youtube|8z4qR3R2JG8}}+{{youtube>8z4qR3R2JG8?large}}\\ 
  
   * Position history (x-y)   * Position history (x-y)
  
-[[File:​uav-xy-pos.jpg|400px]]+{{dylanw:​uav-xy-pos.jpg}}\\ 
  
 ==== September 1-30th, 2013 ==== ==== September 1-30th, 2013 ====
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   * Controller testing without manipulator attached   * Controller testing without manipulator attached
  
-{{#ev:youtube|SkT9IHY7WbM}}+{{youtube>SkT9IHY7WbM?large}}\\ 
  
   * Marker tracking and arm articulation   * Marker tracking and arm articulation
  
-{{#ev:youtube|W_P4UuxP6bU}}+{{youtube>W_P4UuxP6bU?large}}\\ 
  
   * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation,​ z-control, and marker tracking   * ICRA 2014 Video Submission - Peg-in-hole testing, flight tests with arm articulation,​ z-control, and marker tracking
  
-{{#ev:youtube|7N8T3a8DBFk}}+{{youtube>7N8T3a8DBFk?large}}\\ 
  
   * 3-DOF Arm, 1-DOF gripper, manual control   * 3-DOF Arm, 1-DOF gripper, manual control
  
-{{#ev:youtube|VtMT8KqFm9M}}+{{youtube>VtMT8KqFm9M?large}}\\ 
  
   * First flights - manual control, tethered power and communications,​ ROS infrastructure using mavlink and roscopter, 3 serially linked MX-28 Dynamixels implementing a spherical wrist (yaw, pitch, roll). ​ Arm left un-actuated (not powered).   * First flights - manual control, tethered power and communications,​ ROS infrastructure using mavlink and roscopter, 3 serially linked MX-28 Dynamixels implementing a spherical wrist (yaw, pitch, roll). ​ Arm left un-actuated (not powered).
  
-{{#ev:youtube|S8KwldHP7C4}}+{{youtube>S8KwldHP7C4?large}}\\ 
  
 ==== August 1-31st, 2013 ==== ==== August 1-31st, 2013 ====
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   * Simulink Block Diagram   * Simulink Block Diagram
  
-[[File:block.png|425px|Block Diagram showing UAV and Manipulator models]]+{{dylanw:block.png}}\\ 
  
   * Simulink Animation   * Simulink Animation
  
-{{#ev:youtube|eIxy-znHSII}}+{{youtube>eIxy-znHSII?large}}\\ 
  
   * Pick-and-place and peg-in-hole at the Larics Lab   * Pick-and-place and peg-in-hole at the Larics Lab
  
-{{#ev:youtube|9TqlA6k6HBY}}+{{youtube>9TqlA6k6HBY?large}}\\ 
  
   * Robotics Toolbox simulation model for MM-UAV   * Robotics Toolbox simulation model for MM-UAV
  
-[[File:Rtb.jpg|425px|7-DOF MK2 Manipulator]]+{{dylanw:rtb.jpg}}\\ 
  
   * Visual servoing using motion capture and an ARTag marker ​   * Visual servoing using motion capture and an ARTag marker ​
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 Video 1 - End-effector tracking a motion capture marker Video 1 - End-effector tracking a motion capture marker
  
-{{#ev:youtube|unV8DHLx-TQ}}+{{youtube>unV8DHLx-TQ?large}}\\ 
  
 Video 2 - End-effector tracking an ARTag Video 2 - End-effector tracking an ARTag
  
-{{#ev:youtube|kcsQu3yitd0}}+{{youtube>kcsQu3yitd0?large}}\\ 
  
 ==== June 1-30th, 2013 ==== ==== June 1-30th, 2013 ====
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 Video 1  - No UAV reaction Video 1  - No UAV reaction
  
-{{#ev:youtube|8f6emhEnAoQ}}+{{youtube>8f6emhEnAoQ?large}}\\ 
  
 Video 2  - Contact force test with UAV reaction Video 2  - Contact force test with UAV reaction
  
-{{#ev:youtube|rPQ-Yhx9EAY}}+{{youtube>rPQ-Yhx9EAY?large}}\\ 
  
  
 Video 3  - Insertion and missed insertion with UAV reaction Video 3  - Insertion and missed insertion with UAV reaction
  
-{{#ev:youtube|Jys4dtIrgdE}}+{{youtube>Jys4dtIrgdE?large}}\\ 
  
  
   * Control Architecture   * Control Architecture
  
-[[File:GantryAngleController.jpg|1000px|Pitch and linear velocity controller]]+{{dylanw:gantryanglecontroller.jpg}}\\ 
  
   * Applied pitch torque and UAV linear velocity   * Applied pitch torque and UAV linear velocity
  
-[[File:plot.jpg|1000px|Pitch torque and linear velocity]]+{{dylanw:plot.jpg}}\\ 
  
 ==== May 1-31st, 2013 ==== ==== May 1-31st, 2013 ====
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   * Picture - ICRA presentation   * Picture - ICRA presentation
  
-[[File:icra.jpg|400px|ICRA Presentation]]+{{dylanw:icra.jpg}}\\ 
  
 ==== April 1-30th, 2013 ==== ==== April 1-30th, 2013 ====
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   * Video1 - Moveit motion planning test   * Video1 - Moveit motion planning test
  
-{{#ev:youtube|2IYoOfmbnSM}}+{{youtube>2IYoOfmbnSM?large}}\\ 
  
 ==== March 1-31st, 2013 ==== ==== March 1-31st, 2013 ====
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   * Video1 - Tool usage tests   * Video1 - Tool usage tests
  
-{{#ev:youtube|w-dQxI4dq2o}}+{{youtube>w-dQxI4dq2o?large}}\\ 
  
-<gallery widths=400px heights=250px>​ +{{dylanw:tool1.jpg }} {{ dylanw:tool2.jpg}}\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ 
-File:Tool1.jpg|Tool Usage (View 1)|alt=alt language +
-File:Tool2.jpg|Tool Usage (View 2)|alt=alt language +
-</​gallery>​+
  
   * Video2 - Improved MM-UAV Gantry control through torque feedback   * Video2 - Improved MM-UAV Gantry control through torque feedback
     * The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry ​     * The torque sensors in the MK2 torso measure applied joint torque which is then added as a disturbance to a linear velocity reaction in the gantry ​
  
-{{#ev:youtube|sL_x6QRy8DQ}}+{{youtube>sL_x6QRy8DQ?large}}\\ 
  
 ==== February 1-28st, 2013 ==== ==== February 1-28st, 2013 ====
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     * Impedance control is currently enabled to allow for a push-pull on the aircraft     * Impedance control is currently enabled to allow for a push-pull on the aircraft
  
-{{#ev:youtube|GRvt0E93q7s}}+{{youtube>GRvt0E93q7s?large}}\\ 
  
   * Images   * Images
     * Hose insertion testing and torque profiling ​     * Hose insertion testing and torque profiling ​
    
-<gallery widths=400px heights=250px>​ +{{dylanw:insert1.jpg}} Approach\\  
-File:Insert1.jpg|Approach|alt=alt language +{{dylanw:insert2.jpg}} Movement\\  
-File:Insert2.jpg|Movement|alt=alt language +{{dylanw:insert3.jpg}} Contact ​\\ 
-File:Insert3.jpg|Contact|alt=alt language +
-</​gallery>​+
  
   * Torque profile for elbow pitch joint   * Torque profile for elbow pitch joint
  
-<gallery widths=800px heights=600px>>​ +{{dylanw:profile.jpg}}\\ 
-File:Profile.jpg|Torque Profile +
-</​gallery>​+
  
   * Video2 - MM-UAV tool usage   * Video2 - MM-UAV tool usage
     * Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow     * Arm easily grabs and drills a hole. Joint control is difficult through a joystick which is why the movements are jerky and slow
  
-{{#ev:youtube|H40gGg3BKo0}}+{{youtube>H40gGg3BKo0?large}}\\ 
  
   * Video3 - MK2 impedance control testing   * Video3 - MK2 impedance control testing
     * Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters     * Elbow pitch and wrist pitch joints set with inertia, stiffness, and damping parameters
  
-{{#ev:youtube|WA-LwT-YMKY}}+{{youtube>WA-LwT-YMKY?large}}\\ 
  
   * Video4 - MK2 RViz Simulation   * Video4 - MK2 RViz Simulation
  
-{{#ev:youtube|ST3DUcDHeLA}}+{{youtube>ST3DUcDHeLA?large}}\\ 
  
 === Milestones === === Milestones ===
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     * End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump.     * End-effector easily provides enough grasping force for 1600g hose. Arm is joystick-operated to insert hose into pump.
  
-{{#ev:youtube|YDHlqUQuQuI}}+{{youtube>YDHlqUQuQuI?large}}\\ 
  
   * Video2 - ROS and Rviz environment   * Video2 - ROS and Rviz environment
     * ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz.     * ROS-package provides control of each actuator and sensor feedback updates robot and joint states in Rviz.
  
-{{#ev:youtube|_Y_EE6xdvZ8}}+{{youtube>_Y_EE6xdvZ8?large}}\\ 
  
   * Still Images   * Still Images
     * Concept poses for potential MM-UAV tasks (all poses were done through tele-op control)     * Concept poses for potential MM-UAV tasks (all poses were done through tele-op control)
    
-<gallery widths=400px heights=250px perrow=2>​ +{{dylanw:2013-02-05_21.12.48.jpg ​}} {{ dylanw:2013-02-05 21.16.33.jpg}}\\  
-File:2013-02-05 21.12.48.jpg|Hose insertion|alt=alt language +{{dylanw:2013-02-05 21.08.42.jpg ​}} {{ dylanw:2013-02-05 21.27.13.jpg}}\\ 
-File:2013-02-05 21.16.33.jpg|Door opening|alt=alt language +
-File:2013-02-05 21.08.42.jpg|Tool usage|alt=alt language +
-File:2013-02-05 21.27.13.jpg|Perching|alt=alt language +
-</​gallery>​+
  
 === Milestones === === Milestones ===
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     * Will have to carry across terrain then connect     * Will have to carry across terrain then connect
  
-<​gallery>​ +{{dylanw:missiondescription.jpg}}\\  
-File:MissionDescription.jpg|Hose Installation +  * Hose installation\\ ​
-</​gallery>​+
  
 === Main Focus === === Main Focus ===
drexel_mm_uav_status.txt · Last modified: 2016/11/06 17:13 by dwallace