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drexel_mm_uav_status [2016/11/01 11:09]
dwallace created
drexel_mm_uav_status [2016/11/06 03:02]
dwallace
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 ====== MM-UAV Status Page ====== ====== MM-UAV Status Page ======
  
-== October 1-31st, 2013 ==+==== October 1-31st, 2013 ==== 
 === Status === === Status ===
-* Gantry playback of UAV motions + 
-* Insertion experiments+  ​* Gantry playback of UAV motions 
 +  * Insertion experiments
  
 === Reflection === === Reflection ===
  
-* 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}} {{#​ev:​youtube|jqsE0pxuHic}}
  
-* 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}} {{#​ev:​youtube|8v9IakOn1ak}}
  
-* 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}} {{#​ev:​youtube|8z4qR3R2JG8}}
  
-* Position history (x-y)+  ​* Position history (x-y)
  
 [[File:​uav-xy-pos.jpg|400px]] [[File:​uav-xy-pos.jpg|400px]]
  
-== September 1-30th, 2013 ==+==== September 1-30th, 2013 ==== 
 === Status === === Status ===
-* Conference paper writing (ICRA) +  ​* Conference paper writing (ICRA) 
-* Gain tuning+  * Gain tuning
  
 === Reflection === === Reflection ===
  
-* Controller testing without manipulator attached+  ​* Controller testing without manipulator attached
  
 {{#​ev:​youtube|SkT9IHY7WbM}} {{#​ev:​youtube|SkT9IHY7WbM}}
  
-* Marker tracking and arm articulation+  ​* Marker tracking and arm articulation
  
 {{#​ev:​youtube|W_P4UuxP6bU}} {{#​ev:​youtube|W_P4UuxP6bU}}
  
-* 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}} {{#​ev:​youtube|7N8T3a8DBFk}}
  
-* 3-DOF Arm, 1-DOF gripper, manual control+  ​* 3-DOF Arm, 1-DOF gripper, manual control
  
 {{#​ev:​youtube|VtMT8KqFm9M}} {{#​ev:​youtube|VtMT8KqFm9M}}
  
-* 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}} {{#​ev:​youtube|S8KwldHP7C4}}
  
-== August 1-31st, 2013 ==+==== August 1-31st, 2013 ==== 
 === Status === === Status ===
-* Thesis writing 
-* MM-UAV aircraft and arm development 
  
-== July 1-31st, 2013 ==+  * Thesis writing 
 +  * MM-UAV aircraft and arm development 
 + 
 +==== July 1-31st, 2013 ==== 
 === Status === === Status ===
-* Progress toward a fast-IK solver + 
-* Simulation environment and testing+  ​* Progress toward a fast-IK solver 
 +  * Simulation environment and testing
  
 === Reflection === === Reflection ===
  
-* Simulink Block Diagram+  ​* Simulink Block Diagram
  
 [[File:​block.png|425px|Block Diagram showing UAV and Manipulator models]] [[File:​block.png|425px|Block Diagram showing UAV and Manipulator models]]
  
-* Simulink Animation+  ​* Simulink Animation
  
 {{#​ev:​youtube|eIxy-znHSII}} {{#​ev:​youtube|eIxy-znHSII}}
  
-* 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}} {{#​ev:​youtube|9TqlA6k6HBY}}
  
-* Robotics Toolbox simulation model for MM-UAV+  ​* Robotics Toolbox simulation model for MM-UAV
  
 [[File:​Rtb.jpg|425px|7-DOF MK2 Manipulator]] [[File:​Rtb.jpg|425px|7-DOF MK2 Manipulator]]
  
-* Visual servoing using motion capture and an ARTag marker ​+  ​* Visual servoing using motion capture and an ARTag marker ​
  
 Video 1 - End-effector tracking a motion capture marker Video 1 - End-effector tracking a motion capture marker
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 {{#​ev:​youtube|kcsQu3yitd0}} {{#​ev:​youtube|kcsQu3yitd0}}
  
-== June 1-30th, 2013 ==+==== June 1-30th, 2013 ==== 
 === Status === === Status ===
-* Joint work with Matko Orsag to tune MM-UAV velocity and pitch controller+ 
 +  ​* Joint work with Matko Orsag to tune MM-UAV velocity and pitch controller
  
 === Reflection === === Reflection ===
-* Peg-in-hole insertion using Cartesian impedance control+ 
 +  ​* Peg-in-hole insertion using Cartesian impedance control
  
 Video 1  - No UAV reaction Video 1  - No UAV reaction
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 {{#​ev:​youtube|rPQ-Yhx9EAY}} {{#​ev:​youtube|rPQ-Yhx9EAY}}
  
-<!--+
 Video 3  - Insertion and missed insertion with UAV reaction Video 3  - Insertion and missed insertion with UAV reaction
  
 {{#​ev:​youtube|Jys4dtIrgdE}} {{#​ev:​youtube|Jys4dtIrgdE}}
---> 
  
-* Control Architecture+ 
 +  ​* Control Architecture
  
 [[File:​GantryAngleController.jpg|1000px|Pitch and linear velocity controller]] [[File:​GantryAngleController.jpg|1000px|Pitch and linear velocity controller]]
  
-* Applied pitch torque and UAV linear velocity+  ​* Applied pitch torque and UAV linear velocity
  
 [[File:​plot.jpg|1000px|Pitch torque and linear velocity]] [[File:​plot.jpg|1000px|Pitch torque and linear velocity]]
  
-== May 1-31st, 2013 ==+==== May 1-31st, 2013 ==== 
 === Status === === Status ===
-* Presented paper at ICRA conference in Karlsruhe, Germany + 
-* Presented paper at ICUAS conference in Atlanta+  ​* Presented paper at ICRA conference in Karlsruhe, Germany 
 +  * Presented paper at ICUAS conference in Atlanta
  
 === Reflection === === Reflection ===
-* Picture - ICRA presentation+ 
 +  ​* Picture - ICRA presentation
  
 [[File:​icra.jpg|400px|ICRA Presentation]] [[File:​icra.jpg|400px|ICRA Presentation]]
  
-== April 1-30th, 2013 ==+==== April 1-30th, 2013 ==== 
 === Status === === Status ===
-* Presented paper at TePRA conference in Boston + 
-* Built ROS Moveit package for MK2 Arm+  ​* Presented paper at TePRA conference in Boston 
 +  * Built ROS Moveit package for MK2 Arm
  
 === Reflection === === Reflection ===
-* Video1 - Moveit motion planning test+ 
 +  ​* Video1 - Moveit motion planning test
  
 {{#​ev:​youtube|2IYoOfmbnSM}} {{#​ev:​youtube|2IYoOfmbnSM}}
  
-== March 1-31st, 2013 ==+==== March 1-31st, 2013 ==== 
 === Status === === Status ===
-* Final TePRA paper submitted for publication + 
-* Final ACC paper submitted for publication+  ​* Final TePRA paper submitted for publication 
 +  * Final ACC paper submitted for publication
  
 === Reflection === === Reflection ===
-* Video1 - Tool usage tests+ 
 +  ​* Video1 - Tool usage tests
  
 {{#​ev:​youtube|w-dQxI4dq2o}} {{#​ev:​youtube|w-dQxI4dq2o}}
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 </​gallery>​ </​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}} {{#​ev:​youtube|sL_x6QRy8DQ}}
  
-== February 1-28st, 2013 ==+==== February 1-28st, 2013 ==== 
 === Status === === Status ===
-* Specifics on [http://​www.hdtglobal.com/​services/​robotics/​mk2-robotic-arm/​ HDT MK2 Robotic Arm] + 
-* TePRA paper accepted for publication +  ​* Specifics on [http://​www.hdtglobal.com/​services/​robotics/​mk2-robotic-arm/​ HDT MK2 Robotic Arm] 
-* ACC paper accepted for publication +  * TePRA paper accepted for publication 
-* ICUAS paper submitted +  * ACC paper accepted for publication 
-* Conducted torque profiling experiments +  * ICUAS paper submitted 
-* Attended conference call between ARL-DU-Drexel on MM-UAV collaboration+  * Conducted torque profiling experiments 
 +  * Attended conference call between ARL-DU-Drexel on MM-UAV collaboration
  
 === Reflection === === Reflection ===
-* Video1 - MM-UAV Gantry control through torque feedback + 
-** The torque sensors in the MK2 torso measure applied joint torque which is then mapped to a linear velocity reaction in the gantry +  ​* Video1 - MM-UAV Gantry control through torque feedback 
-** Impedance control is currently enabled to allow for a push-pull on the aircraft+    * The torque sensors in the MK2 torso measure applied joint torque which is then mapped to a linear velocity reaction in the gantry 
 +    * Impedance control is currently enabled to allow for a push-pull on the aircraft
  
 {{#​ev:​youtube|GRvt0E93q7s}} {{#​ev:​youtube|GRvt0E93q7s}}
  
-* Images +  ​* Images 
-** Hose insertion testing and torque profiling ​+    * Hose insertion testing and torque profiling ​
    
 <gallery widths=400px heights=250px>​ <gallery widths=400px heights=250px>​
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 </​gallery>​ </​gallery>​
  
-* Torque profile for elbow pitch joint+  ​* Torque profile for elbow pitch joint 
 <gallery widths=800px heights=600px>>​ <gallery widths=800px heights=600px>>​
 File:​Profile.jpg|Torque Profile File:​Profile.jpg|Torque Profile
 </​gallery>​ </​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}} {{#​ev:​youtube|H40gGg3BKo0}}
  
-* 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}} {{#​ev:​youtube|WA-LwT-YMKY}}
  
-* Video4 - MK2 RViz Simulation+  ​* Video4 - MK2 RViz Simulation
  
 {{#​ev:​youtube|ST3DUcDHeLA}} {{#​ev:​youtube|ST3DUcDHeLA}}
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 === Tasks === === Tasks ===
  
-== January 1-31st, 2013 ==+==== January 1-31st, 2013 ==== 
 === Status === === Status ===
-* ROS-packages operational  + 
-** /command messages and /​joint_state feedback for 3-DOF torso, 7-DOF arm, and 4-DOF end-effector  +  ​* ROS-packages operational  
-** Gantry control through /​cmd_velocity messages +    * /command messages and /​joint_state feedback for 3-DOF torso, 7-DOF arm, and 4-DOF end-effector  
-** Gantry feedback through /tf published by motion capture system +    * Gantry control through /​cmd_velocity messages 
-** CAD exported to URDF with RViz mimicing joint states +    * Gantry feedback through /tf published by motion capture system 
-* Mounted HDT MK2 Arm and Torso to 3-DOF Gantry +    * CAD exported to URDF with RViz mimicing joint states 
-** Arm consists of 7-DOFs to include shoulder pitch, roll, yaw; elbow pitch; wrist yaw, pitch, roll joints +  * Mounted HDT MK2 Arm and Torso to 3-DOF Gantry 
-** 4-DOF end-effector has opposable thumb yaw joint, thumb pitch joint, index finger pitch joint, and ring finger pitch joint +    * Arm consists of 7-DOFs to include shoulder pitch, roll, yaw; elbow pitch; wrist yaw, pitch, roll joints 
-** Torque feedback on all joints. Finger actuators provide ~2 Nm of torque +    * 4-DOF end-effector has opposable thumb yaw joint, thumb pitch joint, index finger pitch joint, and ring finger pitch joint 
-* TePRA paper submitted +    * Torque feedback on all joints. Finger actuators provide ~2 Nm of torque 
-* ICUAS paper in-progress+  * TePRA paper submitted 
 +  * ICUAS paper in-progress
  
 === Reflection === === Reflection ===
-* Video1 - MM-UAV grasping test +  ​* Video1 - MM-UAV grasping test 
-** 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}} {{#​ev:​youtube|YDHlqUQuQuI}}
  
-* 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}} {{#​ev:​youtube|_Y_EE6xdvZ8}}
  
-* 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>​ <gallery widths=400px heights=250px perrow=2>​
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 === Milestones === === Milestones ===
-* All actuators can be commanded with position/​velocity/​torque feedback. Impedance control has been tested but not implemented. Motion capture is operational. Gantry control through ROS. + 
-* Software infrastructure consists of ROS and OpenRAVE+  ​* All actuators can be commanded with position/​velocity/​torque feedback. Impedance control has been tested but not implemented. Motion capture is operational. Gantry control through ROS. 
 +  * Software infrastructure consists of ROS and OpenRAVE
  
 === Tasks === === Tasks ===
-* Develop an ikfast plugin using OpenRAVE 
-* Run a whole-body kinematic trajectory on MM-UAV 
-* Implement aircraft model and attitude controller on gantry and gimbal 
-* Implement impedance control on manipulator to provide active compliance during task execution 
  
-== General Information ==+  * Develop an ikfast plugin using OpenRAVE 
 +  * Run a whole-body kinematic trajectory on MM-UAV 
 +  * Implement aircraft model and attitude controller on gantry and gimbal 
 +  * Implement impedance control on manipulator to provide active compliance during task execution 
 + 
 +==== General Information ​====
  
 === Mission Description === === Mission Description ===
 +
 MM-UAV will focus on three classic control problems: peg-in-hole,​ value turning, and door opening. These task align with the DARPA Robotics Challenge Events 4, 7, and 8. MM-UAV will focus on three classic control problems: peg-in-hole,​ value turning, and door opening. These task align with the DARPA Robotics Challenge Events 4, 7, and 8.
  
 The first task under study is Task 8. The first task under study is Task 8.
  
-* Task 8 - Connect cable or hose +  ​* Task 8 - Connect cable or hose 
-** Perception ability to locate and manipulation ability to make connection +    * Perception ability to locate and manipulation ability to make connection 
-** Hose could be firefighting water hose or electrical cable +    * Hose could be firefighting water hose or electrical cable 
-** Will have to carry across terrain then connect+    * Will have to carry across terrain then connect
  
 <​gallery>​ <​gallery>​
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 To complete the task, things listed below must be integrated. To complete the task, things listed below must be integrated.
-* Grasping +  ​* Grasping 
-* Manipulation +  * Manipulation 
-* Lifting & Carrying +  * Lifting & Carrying 
-* Flight Stability +  * Flight Stability 
-* Impedance/​compliance control+  * Impedance/​compliance control
  
 === Project Lead === === Project Lead ===
  
-* Drexel Autonomous System Laboratory (DASL) directed by Dr. Paul Y. Oh, Mechanical Engineering and Mechanics, Drexel University +  ​* Drexel Autonomous System Laboratory (DASL) directed by Dr. Paul Y. Oh, Mechanical Engineering and Mechanics, Drexel University 
-** Kinematic & Dynamic motion planning for whole-body lifting and carrying +    * Kinematic & Dynamic motion planning for whole-body lifting and carrying 
-** Whole-body motion control design+    * Whole-body motion control design
  
-'''​Contact info:'''​ +**Contact info:** 
-'''''​Paul Y. Oh'''​, Professor: [email protected], ​'''​Christopher Korpela'''​, Ph.D candidate: [email protected]''​+**Paul Y. Oh**, Professor: [email protected], ​**Christopher Korpela**, Ph.D candidate: [email protected]
drexel_mm_uav_status.txt · Last modified: 2016/11/06 17:13 by dwallace