School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China.
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230022, China.
Sensors (Basel). 2019 Sep 30;19(19):4253. doi: 10.3390/s19194253.
Autonomous grasping with an aerial manipulator in the applications of aerial transportation and manipulation is still a challenging problem because of the complex kinematics/dynamics and motion constraints of the coupled rotors-manipulator system. The paper develops a novel aerial manipulation system with a lightweight manipulator, an X8 coaxial octocopter and onboard visual tracking system. To implement autonomous grasping control, we develop a novel and efficient approach that includes trajectory planning, visual trajectory tracking and kinematic compensation. Trajectory planning for aerial grasping control is formulated as a multi-objective optimization problem, while motion constraints and collision avoidance are considered in the optimization. A genetic method is applied to obtain the optimal solution. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled affection between the manipulator and octocopter, with the advantage of discarding the complex dynamic parameter calibration. Finally, several experiments are performed to verify the effectiveness of the proposed approach.
自主抓取技术在航空运输和操作领域中仍然是一个具有挑战性的问题，因为耦合的转子-机械臂系统具有复杂的运动学/动力学和运动约束。本文开发了一种新型的航空操纵系统，该系统具有轻量级的机械臂、X8 同轴八旋翼飞行器和机载视觉跟踪系统。为了实现自主抓取控制，我们开发了一种新颖而有效的方法，包括轨迹规划、视觉轨迹跟踪和运动学补偿。航空抓取控制的轨迹规划被表述为一个多目标优化问题，同时在优化中考虑了运动约束和避障。遗传方法被应用于获得最优解。引入了基于运动学补偿的视觉轨迹跟踪，以解决机械臂和八旋翼飞行器之间的耦合影响，具有丢弃复杂动态参数标定的优点。最后，进行了几个实验来验证所提出方法的有效性。
