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Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator

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Abstract

This paper introduces an experiment-based recognition and grasping control method for aerial manipulators. The method consists of two parts: an automatic grasping process using a finite state machine, and an ultrasonic ranging principle. The D–H parameter method is utilized for analyzing the manipulator’s degree of freedoms, equipped with bus servos controlled via serial communication. The proposed strategy is evaluated using a practical experiment of the aerial manipulator system. This research contributes to the field of aerial manipulators by providing a robust and flexible way of grasping targets.

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Data Availability

The data that support the findings of this study are available from the first author, DP, upon reasonable request.

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Funding

This work is jointly supported by the National Natural Science Foundation of China under Grant 61673262, National GF Basic Research Program under JCKY2021110B134, and the Fundamental Research Funds for the Central Universities.

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Authors and Affiliations

  1. School of Aeronautics and Astronautics, Shanghai JiaoTong University, Shanghai, 200240, China

    Dingcheng Pu, Xiangming Dun & Zhongliang Jing

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  1. Dingcheng Pu
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  2. Xiangming Dun
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Correspondence to Zhongliang Jing.

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Pu, D., Dun, X. & Jing, Z. Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator. AS (2024). https://doi.org/10.1007/s42401-023-00264-z

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