A flying trapeze act can be a challenging task for a robotics system since some act requires the performer to catch another trapeze or catcher at the end after being airborne. The objective of this paper is to design and validate a motion planning algorithm for a two-link free-flying acrobatic robot that can accurately land on another trapeze after free-flying in the air. First, the proposed algorithm plan the robot trajectory with the non-linear constrained optimization method. Then, a feedback controller is implemented to stabilize the posture. However, since the spatial position of the center-of-mass of the robot cannot be controlled, this paper proposes a trajectory correction scheme that manipulates the robot's posture such that the robot is still able to land on the target. Lastly, the whole algorithm is validated in the simulation that mimics real-world circumstances.
翻译：对机器人系统来说,飞行陷阱行动可能是一项具有挑战性的任务,因为某些行为要求表演者在空中飞行后最后抓住另一个陷阱或捕捉者。本文的目的是设计并验证一个双链自由飞行的机器人的动作规划算法,它可以在空中自由飞行后准确降落在另一个陷阱。首先,拟议的算法计划机器人轨道,采用非线性限制优化方法。然后,执行一个反馈控制器以稳定姿势。然而,由于机器人中枢的空间位置无法被控制,本文件提出一个轨迹修正方案,操纵机器人的姿势,使机器人仍然能够降落在目标上。最后,整个算法在模拟真实世界环境的模拟中得到了验证。
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