Abstract
In the last years, aerial manipulators, UAVs (Unmanned Aerial Vehicles) with robotic manipulators, have been used for several applications such as inspection tasks, systems monitoring or transportation of loads. In order to supervise the missions, a GCS (Ground Control Station) is used. However, the GCS of the commercial autopilots are just designed to monitor the state of the aerial platform, forcing the use of other software to monitor the state of the robotic manipulator. This paper presents the design, development and validation of a Ground Control Station for aerial manipulators. The GCS developed in this work allows the integration of the UAV state and manipulator state in the same GUI (Graphical User Interface). In order to plan missions, it also allows the definition of waypoints in a simple way. In addition, the GCS integrates a slave mode for teleoperation of the aerial manipulator, using a ground manipulator and a video streaming to facilitate the task of the ground operator. All the functionalities of the GCS are validated through experiments. This GCS will be useful to perform aerial manipulation mission, allowing the monitoring of the complete aerial manipulator in only one software.
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Acknowledgment
This work has been supported by the ROBMIND project, funded by the Spanish Ministerio de Economía, Industria y Competitividad (PDC2021-121524-I00), and the AERIAL-CORE (H2020-2019-871479) and the AEROTRAIN Marie Skłodowska-Curie (MSCA-ITN-2020-953454) projects, funded by the European Commission.
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González-Morgado, A., Álvarez-Cía, C., Heredia, G., Ollero, A. (2023). Design, Development and Validation of a Ground Control Station for Aerial Manipulators. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_7
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DOI: https://doi.org/10.1007/978-3-031-21065-5_7
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