Control method for grabbing object based on dynamic gliding of operation flying robot

Abstract

The invention relates to a control method for grabbing an object based on dynamic gliding of an operation flying robot. The method comprises the following steps that S1, a quadrotor unmanned aerial vehicle system model carrying a mechanical arm and a two-degree-of-freedom manipulator model are built through considering the gravity center shift; S2, the contact force and the friction force borne bythe tail end of the manipulator are calculated by analyzing the instantaneous contact between the manipulator and theobject; S3, attitude decoupling is carried out, the roll angle pitch angle theta dand the lift force required by flight of the unmanned aerial vehicle according to the target trajectory are solved, and kinetic model integration is carried out; S4, a stable reference model is introduced, an error dynamic model of the system is calculated, the rotational inertia of the flying robot is considered as a bounded variable in a controller, a robust adaptive controller is designed, andthe lift force and the input moment of rolling, pitching and yawing of the system are calculated; and S5, the rotating speeds of the four rotors are calculated through the lift force, the rolling moment, the pitching moment and the yawing moment.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for dynamically gliding and grabbing objects based on an operational flying robot. Background technique [0002] The way to realize unmanned drones ranges from remote control to autonomous control by onboard computers. UAV is already a mature flight platform, which can carry different components on the flight platform to expand the application of the flight platform in different fields. For example, fields such as aerial surveying, pesticide spraying, and target tracking all have the potential for UAV applications. Among them, many of these applications need to be equipped with a robotic arm on the UAV platform. The combination of the two is an operational flying robot. Such high-end equipment can bring great convenience to the industry. With the deepening of researchers in this field, some scholars have realized the practical application of dr...

AI Technical Summary

Problems solved by technology

Most of the above-mentioned control methods can only grasp objects with small mass, and will produce large errors or even lead to loss of control when grasping larger objects.

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