Position and attitude stability control method for operational flying robot after grasping

A stable control method and flying robot technology, applied in the direction of target-seeking control, program control manipulator, manipulator, etc., can solve problems such as unstable pose

Inactive Publication Date: 2020-05-22
FUZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a method for controlling the pose stability of an operational flying robot

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  • Position and attitude stability control method for operational flying robot after grasping
  • Position and attitude stability control method for operational flying robot after grasping
  • Position and attitude stability control method for operational flying robot after grasping

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Embodiment Construction

[0119] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0120] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0121] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The invention relates to a position and attitude stability control method for an operational flying robot after grasping. The position and attitude stability control method comprises the steps that firstly, a four-rotor unmanned aerial vehicle carrying mechanical arm system is modeled through a Newtonian-Euler equation method; then, gravity center offset system parameters are considered in a position controller, and the gravity center offset system parameters are compensated in sliding mode control, so that a four-rotor unmanned aerial vehicle platform flies according to a target trajectory; then, the expected roll-over angle, the expected pitch angle and the lift required by the four-rotor unmanned aerial vehicle platform flying according to an expected trajectory are calculated; and it is considered that gravity center offset control parameters and the inertia tensor are not constants in an attitude controller, adaptive law is added into the attitude controller to estimate the gravity center offset control parameters and the inertia tensor, a CMAC neural network is added to approximate a real value of the inertia tensor online, the required input torque is calculated, and then the rotational speeds of four rotors are calculated simultaneously. According to the position and attitude stability control method for an operational flying robot after grasping, the problems of unknown time-varying parameters, insufficient stability of attitude control and insufficient stability of gravity center offset to the position in attitude control law can be solved.

Description

technical field [0001] The invention relates to the field of flight grasping of an operational flying robot, in particular to a pose stabilization control method for an operational flying robot after grasping. Background technique [0002] Quadrotor UAVs are unmanned aircraft utilizing radio-teleoperated and self-programmed controls, or operated entirely or intermittently autonomously by an on-board computer. Quadrotor UAV is already a mature flight platform, which can be equipped with different components to expand the application of the flight platform in different fields. Today, the era of express delivery with an average of 100 million pieces per day has arrived, and quadrotor drones have been successfully applied in logistics and freight transportation. There are potential applications of quadrotor UAVs in agriculture, high-altitude maintenance and cleaning. Among them, many of these applications require a quadrotor UAV platform to be equipped with a robotic arm. Comb...

Claims

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Application Information

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IPC IPC(8): B25J9/16G05D1/12
CPCB25J9/1605B25J9/1664G05D1/12
Inventor 陈彦杰占巍巍黄益斌梁嘉诚赖宁斌何炳蔚林立雄
Owner FUZHOU UNIV
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