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Cooperative aerial lift and manipulation (CALM)

机译：协同空中升降和操纵（CALM）

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This paper proposes a novel paradigm for aerial payload transport and object manipulation by an unmanned aerial vehicle (UAV) team. This new paradigm, called cooperative payload lift and manipulation (CALM), applies the continuum deformation agent coordination approach to transport and manipulate objects autonomously with collision avoidance guarantees. CALM treats UAVs as moving supports during transport and as stationary supports during object manipulation. Constraints are formulated to assure sufficient thrust forces are available to maintain stability and follow prescribed motion and force/torque profiles. CALM uses tensegrity muscles to carry a suspended payload or a manipulation object rather than cables. A tensegrity structure is lightweight and can carry both the tension and compression forces required during cooperative manipulation. During payload transport, UAVs are categorized as leaders and followers. Leaders define continuum deformation shape and motion profile while followers coordinate through local communication. Each UAV applies input-output (10) feedback linearization control to track the trajectory defined by continuum deformation. For object manipulation, the paper proposes a new hybrid force controller to stabilize quadcopters when smooth or sudden (impulsive) forces and moments are exerted on the system. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种新型的范式，用于无人飞行器（UAV）小组的空中有效载荷运输和物体操纵。这种称为协作式有效载荷提升和操纵（CALM）的新范例将连续体变形代理协调方法应用于避免碰撞保证的自主运输和操纵对象。 CALM在运输过程中将无人机视为移动的支撑物，而在对象操纵过程中则将其视为固定支撑物。制定约束条件以确保有足够的推力可用于保持稳定性并遵循规定的运动和力/扭矩曲线。 CALM使用张力肌肉来承载悬挂的有效负载或操纵对象，而不是电缆。张力结构是轻质的，并且可以承受协同操作期间所需的拉力和压力。在有效载荷运输过程中，无人机被分为领导者和跟随者。领导者定义连续的变形形状和运动轮廓，而跟随者通过本地沟通进行协调。每个无人机都应用输入-输出（10）反馈线性化控制来跟踪由连续变形定义的轨迹。对于物体操纵，本文提出了一种新的混合动力控制器，用于在系统上施加平滑或突然的（冲动）力和力矩时稳定四轴飞行器。 （C）2018 Elsevier Masson SAS。版权所有。

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