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.
翻译:本文介绍了空中操纵飞行器(无人驾驶飞行器)的动态和运动规划程序中与该飞行器相连的操纵者无空间,从而进行空中操纵或最终效应轨迹跟踪的一种方法。提议的方法是分阶段进行的。轨迹规划从不核算未激活的无人驾驶飞行器系统的滚动和投放角度开始。接下来,我们提议模拟这种轨迹上的动态并通过模型获得无人驾驶飞行器的态度。以这种方式获得的完全空中操纵状态被进一步用于计算计划中和模拟的终端效应状态的差异。最后,终端效应或姿势通过操纵者的空格来校正,以适应轨迹规划中获得的预期最终效应。此外,我们运用ATPP-RA方法对无人驾驶飞行器进行了实验性测试,以核实规划框架的有效性。