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Self-stability augmentation control method and device of aerial operation robot, and terminal, system and readable storage medium

A working robot and self-increasing technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of precise control effects, unfavorable aerial operations, disturbances deviating from the original position, etc., and achieve the effect of precise control

Active Publication Date: 2020-11-27
HUNAN UNIV +1
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AI Technical Summary

Problems solved by technology

However, in the process of adjusting the attitude of the flying platform, the end of the operating mechanism fixed at the bottom will have a large disturbance and deviate from the original position, which is very unfavorable for aerial work, especially it will have a great impact on precise control

Method used

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  • Self-stability augmentation control method and device of aerial operation robot, and terminal, system and readable storage medium
  • Self-stability augmentation control method and device of aerial operation robot, and terminal, system and readable storage medium
  • Self-stability augmentation control method and device of aerial operation robot, and terminal, system and readable storage medium

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Embodiment Construction

[0029] The invention provides a self-stabilizing control method for an aerial work robot, which is used to solve the problem of the terminal disturbance of the operating mechanism caused when the flying platform changes its own flying attitude. The present invention solves the position compensation vector by studying the vector relationship satisfied during the attitude change process of the flying platform, and then uses inverse kinematics to obtain the joint angle vector required to achieve the target pose, and then controls the relevant joints to achieve the self-stabilizing effect. The present invention will be described below in conjunction with the accompanying drawings. The described embodiments are some, but not all, embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] In or...

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Abstract

The invention discloses a self-stability augmentation control method and device of an aerial operation robot, and a terminal, a system and a readable storage medium. The method comprises the followingsteps of acquiring attitude information of the aerial operation robot; calculating a position compensation vector based on the attitude information; and using the position compensation vector for attitude disturbance compensation control based on inverse kinematics. The invention derives a position compensation vector formula based on the position vector relationship between a work platform and an end work tool during the attitude transformation of the aerial operation robot, then in the actual control process, monitors the attitude change of the flying platform of the aerial operation robotand calculates a position compensation vector accordingly, and controls the joints of the robot to complete the compensation control, which solves the problem of the end work tool disturbance caused by the attitude change of the flying platform, makes the end work tool achieve the effect of self-stability, and ensures that the aerial operation robot is not disturbed by the attitude of the flying platform influences.

Description

technical field [0001] The invention belongs to the technical field of aerial work robot control, and in particular relates to a self-stabilizing control method, device, terminal, system and readable storage medium of an aerial work robot. Background technique [0002] With the rapid development of MEMS technology and high power density power system technology, UAVs, especially rotor UAVs, have made major breakthroughs and great application progress in the past two decades, such as aerial photography, map creation and measurement. , natural disaster rescue and battlefield monitoring, etc. However, pure unmanned aerial vehicles also have their limitations and limitations. For example, unmanned aerial vehicles equipped with relevant measurement equipment can only be used as passive information observation robots without active operation capabilities, while unmanned aerial work robots are composed of unmanned aerial vehicle flying platforms and active Composed of operating mec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1653B25J9/1661
Inventor 钟杭王耀南李玲张辉刘理高加林
Owner HUNAN UNIV
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