SCI-JCR Q2 期刊，Journal of Bionic Engineering最新的一期2020卷 17 期 2，NRS实验室的关于飞行机械臂视觉伺服控制论文“Natural Feature-based Visual Servoing for Grasping Target with an Aerial Manipulator“被选为封面论文。
论文摘要：Aerial transportation and manipulation have attracted increasing attention in the unmanned aerial vehicle field, and visual servoing methodology is widely used to achieve the autonomous aerial grasping of a target object. However, the existing marker-based solutions pose a challenge to the practical application of target grasping owing to the difficulty in attaching markers on targets. To address this problem, this study proposes a novel image-based visual servoing controller based on natural features instead of artificial markers. The natural features are extracted from the target images and further processed to provide servoing feature points. A six degree-of-freedom (6-DoF) aerial manipulator system is proposed with differential kinematics deduced to achieve aerial grasping. Furthermore, a controller is designed when the target object is outside a manipulator’s workspace by utilizing both the degrees-of-freedom of unmanned aerial vehicle and manipulator joints. Thereafter, a weight matrix is used as basis to develop a multi-tasking visual servoing framework to integrate the controllers inside and outside the manipulator’s workspace. Lastly, experimental results are provided to verify the effectiveness of the proposed approach.