The invention discloses a rotor wing flying mechanical arm and a planning and control method for aerial rapid grabbing. The rotor wing flying mechanical arm comprises an unmanned aerial vehicle rack, a controller, an airborne computer and a rotor wing flying mechanical arm body. The airborne computer comprises a control system used for controlling the rotor wing flight mechanical arm. The control system comprises a motion capture system, a tracking and resolving system, and a PD controller and a PID controller of the rotor wing flight mechanical arm. The controller comprises a mass center controller and a mechanical arm joint controller; the rotor wing flying mechanical arm comprises a plurality of joints, and each joint is provided with a joint motor and a disturbance observer. The control method is used for motion planning of the rotor wing flying mechanical arm and tracking and controlling the rotor wing flying mechanical arm to execute a grabbing task. According to the control system, the control precision of the rotor wing flying mechanical arm can be improved, the deployment difficulty of the control system is low, and the rotor wing flying mechanical arm can have the capacity of executing a high-precision rapid grabbing task in an obstacle environment.
本发明公开了一种旋翼飞行机械臂及空中快速抓取的规划和控制方法,旋翼飞行机械臂包括无人机机架、控制器、机载电脑、旋翼飞行机械臂;所述机载电脑包括用于控制旋翼飞行机械臂的控制系统;所述控制系统包括动作捕捉系统、跟踪解算系统、旋翼飞行机械臂的PD控制器和PID控制器;所述控制器包括质心控制器和机械臂关节控制器;所述旋翼飞行机械臂包括多个关节,且每个关节都设置有关节电机和扰动观测器;控制方法用于旋翼飞行机械臂的运动规划以及跟踪控制旋翼飞行机械臂执行抓取任务;本发明能提高旋翼飞行机械臂的控制精度,且这种控制系统的部署难度较低,能使旋翼飞行机械臂具备在障碍环境下执行高精度的快速抓取任务的能力。
Rotor wing flying mechanical arm and planning and control method for fast grabbing in air
一种旋翼飞行机械臂及空中快速抓取的规划和控制方法
2023-09-08
Patent
Electronic Resource
Chinese
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