Flying robot with mechanical arm and control method thereof

Abstract

The invention discloses a flying robot with a mechanical arm and a control method thereof. The flying robot comprises a multi-rotor unmanned aerial vehicle flying platform, the six-degree-of-freedom mechanical arm and an operation end control system, wherein the six-degree-of-freedom mechanical arm is installed under the multi-rotor unmanned aerial vehicle flying platform. The unmanned aerial vehicle is combined with the mechanical arm, so that the task execution capability of the unmanned aerial vehicle is expanded; and the movement range of the mechanical arm is expanded from the ground to the air, meanwhile, the control mode of the mechanical arm is improved, the new control mode can enable the mechanical arm to move along with a human arm, so that the idea of an operator can be executed more naturally and flexibly. According to the flying robot and the control method thereof, the operation ranges of the unmanned aerial vehicle and the mechanical arm are expanded, and remote control of the mechanical arm is realized; the mechanical arm can move along with the postures of the human arm, so that complex model detection and model operation are avoided, and the response effect is better; and the impact to the mechanical arm and the flying platform during rapid response of a steering engine can be relieved while the rapid response characteristic of the steering engine is kept as far as possible.

Description

technical field [0001] The invention belongs to the technical field of operational unmanned aerial vehicles, in particular to a flying robot with a mechanical arm and a control method thereof. Background technique [0002] At present, the multi-rotor drone technology itself has developed relatively maturely, and its application in daily life generally needs to be completed in combination with other components, such as combining with the pan-tilt shooting equipment to realize high-altitude reconnaissance and shooting functions, and combining with spraying devices to realize farmland plant protection. Function. At present, some relevant scholars and researchers have proposed to combine rotor drones with claws or mechanical arms to complete more complex functions. Most of the early flying robots of this type combined rotor drones with claws, but this type of robot The operating capacity of the system is very limited, and because there is no mechanical arm system, the operating...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a flying robot with a mechanical arm and its control method, the robot and its control method can expand the operating range of the drone and the mechanical arm, and realize remote control of the mechanical arm;

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