D.A.S.O.M

Development of Aerial Manipulator System for Object Manipulation



Project period: 2023.01. ~ 2024.01.

Note

Contributions!: Admittance Control, External Force Estimation, Teleoperation, Disturbance Observer, Gimbaling

Our experiment video can be found at: https://youtu.be/yVvbRuphMrc?si=mRRZsSERV7XZkeGD

ICROS 2023: 2023.06.21 ~ 2023.06.23

Manipulator System Based on Compliance Control For Object Manipulation











(You can check the publication in this page!: )

Capstone Design 2023: 2023.02.20 ~ 2023.11.24

Development of Aerial Manipulator System for Object Manipulation


(You can check the publication in this page!: )

Control Diagram

Interface (GUI)

Tip

For User (in control center): can manipulate objects while looking at the screen of the GUI

Default

Running

Installation

Hardware

Essential 1. OptiTrack

OptiTrack is a Motion Capture System and in this study, we used ROS package made by: MIT Aerospace Controls Laboratory

https://github.com/mit-acl/optitrack.git

Essential 2. 3D Geomagic Touch - Haptic Device

3D Geomagic Touch allows the user to feel the virtual object and creates a real sense.
We modified ROS package made by: fsuarez6

https://github.com/fsuarez6/phantom_omni.git

Caution

Need to install geomagic_touch_device_driver !

Software

Essential 1. Install Dependencies

Dynamixel Workbench 1.0.0 version required

Tip

Installation guide: ROBOTIS e-Manual DYNAMIXEL Workbench

Essential 2. Clone Github repository

For Manipuator

git clone https://github.com/S-CHOI-S/D.A.S.O.M.git

For Palletrone

git clone https://github.com/S-CHOI-S/D.A.S.O.M-Palletrone.git

Usage

Step 1. Control Center GUI

rosrun dasom_control_gui dasom_app

Step 2. Geomagic Touch Device

roslaunch omni_common omni_state_boundary.launch

Step 3. Enable Dynamixel Torque

roslaunch dynamixel_workbench_controllers torque_ctrl_6DOF.launch

Step 4. D.A.S.O.M Manipulator Control

roslaunch dasom_controllers dasom_manipulator_control.launch

Step 5. OptiTrack

roslaunch optitrack optitrack.launch

Step 6. Tf2

roslaunch dasom_tf2 dasom_tf2_setting.launch

Step 7. Camera

roslaunch dasom_controllers dasom_camera_control.launch

Step 8. Palletrone

roslaunch FAC_MAV FAC_MAV_with_ARM.launch

Step 9. Enjoy your flight!!