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面向抓取作业的飞行机械臂系统及其控制
Towards Grasping Task: System and Control of an Aerial Manipulator

查看参考文献27篇

张广玉 1,2   何玉庆 1   代波 1,2   谷丰 1   杨丽英 1   韩建达 1   刘光军 3  
文摘 面向飞行机械臂的飞行抓取作业,提出了一个由六旋翼飞行机器人和7自由度机械臂组成的飞行机械臂系统.系统采用分离式控制策略,即飞行机器人和机械臂各有一个控制器.机械臂运动所引起的系统质心和转动惯量的变化量及其导数被用来估计机械臂对飞行机器人的扰动力和力矩.为了减弱机械臂扰动对六旋翼飞行机器人的飞行控制性能的影响,提出了扰动补偿H_∞鲁棒飞行控制器.实验结果表明,与没有扰动补偿的控制器相比,当机械臂运动时所提出的扰动补偿H_∞棒控制器对系统的飞行控制性能有明显的提升效果.最后,目标物抓取作业实验验证了所提出的飞行机械臂系统的可靠性.
其他语种文摘 Towards target grasping by an aerial manipulator, an aerial manipulator system composed of a hex-rotor and a 7-DoF (degree of freedom) manipulator is presented, for which a separated control strategy is adopted, that is, the aerial vehicle and the manipulator are controlled separately. The variations of the system CoM (center of mass), inertia matrix caused by the manipulator movement and the corresponding derivatives are used to estimate the disturbing forces and moments on the aerial vehicle exerted by the manipulator. To attenuate the effect of the manipulator disturbance on the flight control performance of hex-rotor, a disturbance compensation H_∞ robust flight controller is designed. The experiment results show that the disturbance compensation H_∞ robust controller can obviously improve the flight performance of the aerial vehicle when the manipulator is moving, comparing with the controller without disturbance compensation. Finally, aerial grasping experiments are conducted to validate the reliability of the proposed aerial manipulator system.
来源 机器人 ,2019,41(1):19-29 【核心库】
DOI 10.13973/j.cnki.robot.180127
关键词 飞行机械臂 ; 飞行抓取 ; 飞行机器人 ; 鲁棒控制
地址

1. 中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016  

2. 中国科学院大学, 北京, 100049  

3. 瑞尔森大学, 加拿大, 多伦多, M5B 2K3

语种 中文
文献类型 研究性论文
ISSN 1002-0446
学科 自动化技术、计算机技术
基金 国家自然科学基金
文献收藏号 CSCD:6439113

参考文献 共 27 共2页

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引证文献 8 篇

1 张广玉 面向自由飞行目标捕获的四旋翼最优轨迹规划 信息与控制,2019,48(4):469-476,485
被引 2 次

2 孟祥冬 接触作业型飞行机械臂系统的力/位置混合控制 机器人,2020,42(2):167-178
被引 5 次

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