论文标题
通过模型中的运动计划利用空中操作中的空空间
Exploiting Null Space in Aerial Manipulation through Model-In-The-Loop Motion Planning
论文作者
论文摘要
本文介绍了一种通过涵盖无人机（UAV）的动力学（UAV）的动力学和在运动计划步骤中附加在其上的机械手的空空间的方法。所提出的方法分阶段运行。轨迹计划首先不考虑无人机系统不足的滚动和俯仰角。接下来，我们建议在这种轨迹上模拟动力学，并通过模型获得无人机态度。以这种方式获得的完整的空中操纵器状态可进一步用来解释计划中和模拟的最终效用状态中的差异。最后，通过操纵器的空空间校正末端姿势，以匹配轨迹计划中获得的所需终端姿势。此外，我们通过调用差异平坦原理在UAV上应用了TOPP-RA方法。最后，我们进行了实验测试，以验证计划框架的有效性。
This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator attached to it in the motion planning procedure. The proposed method runs in phases. Trajectory planning starts by not accounting for roll and pitch angles of the underactuated UAV system. Next, we propose simulating the dynamics on such a trajectory and obtaining UAV attitude through the model. The full aerial manipulator state obtained in such a manner is further utilized to account for discrepancies in planned and simulated end-effector states. Finally, the end-effector pose is corrected through the null space of the manipulator to match the desired end-effector pose obtained in trajectory planning. Furthermore, we have applied the TOPP-RA approach on the UAV by invoking the differential flatness principle. Finally, we conducted experimental tests to verify effectiveness of the planning framework.
