Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator

Three new image-based visual-impedance control laws are proposed in this letter allowing physical interaction of a dual-arm unmanned aerial manipulator equipped with a camera and a force/torque sensor. Namely, two first-order impedance behaviors are designed based on the transpose and the inverse of the system Jacobian matrix, respectively, while a second-order impedance behavior is carried out as well. Visual information is employed both to coordinate the camera motion in an eye-in-hand configuration with the assigned task executed by the other robot arm, and to define the elastic wrench component of the proposed hybrid impedance equations directly in the image plane.