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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Model-Based Motion Control of a Robotic Manipulator With a Flying Multirotor Base
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Model-Based Motion Control of a Robotic Manipulator With a Flying Multirotor Base

机译：具有多旋翼飞行器底座的机器人操纵器的基于模型的运动控制

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This article presents new model-based adaptive motion control algorithms for an underactuated aerial robotic manipulator comprised of a conventional multirotor unmanned aerial vehicle (UAV) and a multilink serial robotic arm. Two control strategies are proposed to allow the manipulator to operate in the joint and task spaces. The proposed controllers incorporate the combined dynamics of the UAV base and the serial arm, and properly account for the two degrees of underactuation in the plane of the propellers. The control developments follow the so-called method of virtual decomposition, which by employing a Newtonian formulation of the UAV-manipulator dynamics, sidesteps the complexities associated with the derivation and parametrization of a lumped Lagrangian dynamics model. The algorithms are guaranteed to produce feasible control commands as the constraints associated with the underactuation are explicitly considered in the control calculations. A Lyapunov analysis demonstrates the stability of the overall system and the convergence of the motion tracking errors. Experimental results show the effectiveness of the proposed control strategies.
机译：本文介绍了一种基于模型的自适应运动控制算法，该算法用于欠驱动的航空机器人，该机器人由常规的多旋翼无人机（UAV）和多连杆串行机械臂组成。提出了两种控制策略，以允许机械手在关节和任务空间中操作。所提出的控制器结合了无人机底座和串行臂的综合动力，并适当地考虑了螺旋桨平面中的两个欠驱动度。控制的发展遵循所谓的虚拟分解方法，该方法通过采用牛顿式无人机操纵器动力学公式来避免与集总拉格朗日动力学模型的推导和参数化相关的复杂性。保证算法能够产生可行的控制命令，因为在控制计算中明确考虑了与欠驱动相关的约束。 Lyapunov分析证明了整个系统的稳定性以及运动跟踪误差的收敛性。实验结果表明了所提出的控制策略的有效性。

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