Control method of dynamic gliding and grabbing objects based on operational flying robot
A flying robot and control method technology, applied in the field of unmanned aerial vehicles, can solve the problems of grasping a large object error and out of control, and achieve the effects of improving control accuracy and grasping quality range, broad application prospects, and strong practicability
Active Publication Date: 2021-08-31
FUZHOU UNIV
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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.
Method used
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Embodiment Construction
[0088] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0089] Please refer to figure 2 , the present invention provides a control method based on the dynamic gliding of an operating flying robot to grab an object, comprising the following steps:
[0090] Step S1: Considering the offset of the center of gravity, construct a system model of a quadrotor UAV equipped with a robotic arm and a two-degree-of-freedom manipulator model;
[0091] In this embodiment, the construction of the four-rotor UAV system model equipped with a mechanical arm is specifically: using the Newton-Euler equation to model the four-rotor UAV system equipped with a mechanical arm, and according to the force balance and moment balance get:
[0092]
[0093] Among them, F is the external force on the system, M is the external moment on the system, m is the total mass of the system, r G is the position of center of gravity offset in...
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The present invention relates to a control method for grabbing objects based on dynamic gliding of an operating flying robot, comprising the following steps: Step S1: Considering the offset of the center of gravity, constructing a system model of a four-rotor UAV equipped with a mechanical arm and a two-degree-of-freedom manipulator model; Step S2: Through the analysis of the momentary contact between the manipulator and the object, calculate the contact force and friction force on the end of the manipulator; Step S3: Perform attitude decoupling, and calculate the roll angle and pitch angle required for the UAV to fly according to the target trajectory and lift, and integrate the dynamic model; step S4: introduce a stable reference model, calculate the error dynamic model of the system, consider the moment of inertia of the flying robot as a bounded variable in the controller, design a robust adaptive controller, solve Calculate the lift force of the system and the input moments of roll, pitch, and yaw; Step S5: calculate the rotational speeds of the four rotors through the lift force, roll moment, pitch moment, and yaw 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...
Claims
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈彦杰张振国吴杨宁占巍巍何炳蔚林立雄
Owner FUZHOU UNIV