面向抓取作业的飞行机械臂系统及其控制
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摘要
面向飞行机械臂的飞行抓取作业,提出了一个由六旋翼飞行机器人和7自由度机械臂组成的飞行机械臂系统.系统采用分离式控制策略,即飞行机器人和机械臂各有一个控制器.机械臂运动所引起的系统质心和转动惯量的变化量及其导数被用来估计机械臂对飞行机器人的扰动力和力矩.为了减弱机械臂扰动对六旋翼飞行机器人的飞行控制性能的影响,提出了扰动补偿H∞鲁棒飞行控制器.实验结果表明,与没有扰动补偿的控制器相比,当机械臂运动时所提出的扰动补偿H∞鲁棒控制器对系统的飞行控制性能有明显的提升效果.最后,目标物抓取作业实验验证了所提出的飞行机械臂系统的可靠性.
Towards target grasping by an aerial manipulator, an aerial manipulator system composed of a hex-rotor and a 7-DoF(degree of freedom) manipulator is presented, for which a separated control strategy is adopted, that is, the aerial vehicle and the manipulator are controlled separately. The variations of the system CoM(center of mass), inertia matrix caused by the manipulator movement and the corresponding derivatives are used to estimate the disturbing forces and moments on the aerial vehicle exerted by the manipulator. To attenuate the effect of the manipulator disturbance on the flight control performance of hex-rotor, a disturbance compensation H∞ robust flight controller is designed. The experiment results show that the disturbance compensation H∞ robust controller can obviously improve the flight performance of the aerial vehicle when the manipulator is moving, comparing with the controller without disturbance compensation. Finally, aerial grasping experiments are conducted to validate the reliability of the proposed aerial manipulator system.
Towards target grasping by an aerial manipulator, an aerial manipulator system composed of a hex-rotor and a 7-DoF(degree of freedom) manipulator is presented, for which a separated control strategy is adopted, that is, the aerial vehicle and the manipulator are controlled separately. The variations of the system CoM(center of mass), inertia matrix caused by the manipulator movement and the corresponding derivatives are used to estimate the disturbing forces and moments on the aerial vehicle exerted by the manipulator. To attenuate the effect of the manipulator disturbance on the flight control performance of hex-rotor, a disturbance compensation H∞ robust flight controller is designed. The experiment results show that the disturbance compensation H∞ robust controller can obviously improve the flight performance of the aerial vehicle when the manipulator is moving, comparing with the controller without disturbance compensation. Finally, aerial grasping experiments are conducted to validate the reliability of the proposed aerial manipulator system.
引文
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[27]Dollar A M,Howe R D.The highly adaptive SDM hand:Design and performance evaluation[J].International Journal of Robotics Research,2010,29(5):585-597.
[2]宋大雷,孟祥冬,齐俊桐,等.3自由度旋翼飞行机械臂系统动力学建模与预测控制方法[J].机器人,2015,37(2):152-160.Song D L,Meng X D,Qi J T,et al.Strategy of dynamic modeling and predictive control on 3-DoF rotorcraft aerial manipulator system[J].Robot,2015,37(2):152-160.
[3]Kutia J R,Stol K A,Xu W L.Initial flight experiments of a canopy sampling aerial manipulator[C]//International Conference on Unmanned Aircraft Systems.Piscataway,USA:IEEE,2016:1359-1365.
[4]Torre A,Mengoli D,Naldi R,et al.A prototype of aerial manipulator[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2012:2653-2654.
[5]Korpela C,Orsag M,Oh P.Towards valve turning using a dualarm aerial manipulator[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2014:3411-3416.
[6]Bartelds T,Capra A,Hamaza S,et al.Compliant aerial manipulators:Toward a new generation of aerial robotic workers[J].IEEE Robotics and Automation Letters,2016,1(1):477-483.
[7]Kamel M,Alexis K,Siegwart R.Design and modeling of dexterous aerial manipulator[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2016:4870-4876.
[8]Huber F,Kondak K,Krieger K,et al.First analysis and experiments in aerial manipulation using fully actuated redundant robot arm[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2013:3452-3457.
[9]Thomas J,Loianno G,Polin J,et al.Toward autonomous avianinspired grasping for micro aerial vehicles[J].Bioinspiration&Biomimetics,2014,9(2):No.025010.
[10]Yang B,He Y Q,Han J D,et al.Rotor-flying manipulator:Modeling,analysis,and control[J].Mathematical Problems in Engineering,2014:No.492965.
[11]Lippiello V,Ruggiero F.Cartesian impedance control of a UAVwith a robotic arm[J].IFAC Proceedings Volumes,2012,10(1):704-709.
[12]Lippiello V,Ruggiero F.Exploiting redundancy in Cartesian impedance control of UAVs equipped with a robotic arm[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,USA:IEEE,2012:3768-3773.
[13]Sharifi M,Sayyaadi H.Nonlinear robust adaptive Cartesian impedance control of UAVs equipped with a robot manipulator[J].Advanced Robotics,2015,29(3):171-186.
[14]Yang H,Lee D.Dynamics and control of quadrotor with robotic manipulator[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2014:5544-5549.
[15]Garimella G,Kobilarov M.Towards model-predictive control for aerial pick-and-place[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2015:4692-4697.
[16]Caccavale F,Giglio G,Muscio G,et al.Adaptive control for UAVs equipped with a robotic arm[J].IFAC Proceedings Volumes,2014,19:11049-11054.
[17]Jimenez-Cano A E,Heredia G,Bejar M,et al.Modelling and control of an aerial manipulator consisting of an autonomous helicopter equipped with a multi-link robotic arm[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2016,230(10):1860-1870.
[18]Kondak K,Krieger K,Albu-Sch¨affer A,et al.Closed-loop behavior of an autonomous helicopter equipped with a robotic arm for aerial manipulation tasks[J].International Journal of Advanced Robotic Systems,2013,10:No.145.
[19]Khalifa A,Fanni M.A new quadrotor manipulation system:Modeling and point-to-point task space control[J].International Journal of Control,Automation and Systems,2017,15(3):1434-1446.
[20]Fanni M,Khalifa A.A new 6-DOF quadrotor manipulation system:Design,kinematics,dynamics and control[J].IEEE/ASMETransactions on Mechatronics,2017,22(3):1315-1326.
[21]钟杭,王耀南,李玲,等.旋翼飞行机械臂建模及动态重心补偿控制[J].控制理论与应用,2016,33(3):311-320.Zhong H,Wang Y N,Li L,et al.Rotor-flying manipulator modeling and control with dynamic compensation for gravity offset[J].Control Theory&Applications,2016,33(3):311-320.
[22]Shabana A A.Dynamics of multibody systems[M].Cambridge,UK:Cambridge University Press,2005.
[23]Spong M W,Vidyasagar M.Robot dynamics and control[M].Hoboken,USA:John Wiley&Sons,2008.
[24]Han J D,He Y Q,Xu W L.Angular acceleration estimation and feedback control:An experimental investigation[J].Mechatronics,2007,17(9):524-532.
[25]Kendoul F,Fantoni I,Lozano R.Asymptotic stability of hierarchical inner-outer loop-based flight controllers[J].IFAC Proceedings Volumes,2008,17(1):1741-1746.
[26]English J D,Maciejewski A A.On the implementation of velocity control for kinematically redundant manipulators[J].IEEETransactions on Systems,Man,and Cybernetics,Part A:Systems and Humans,2000,30(3):233-237.
[27]Dollar A M,Howe R D.The highly adaptive SDM hand:Design and performance evaluation[J].International Journal of Robotics Research,2010,29(5):585-597.