基于钩子的四旋翼自主抓取与运输
Autonomous Hook-Based Grasping and Transportation with Quadcopters
AI总结：
本文提出一种基于1自由度旋转关节钩子的四旋翼轻量化被动负载抓取与运输运动控制及规划方法，通过时间最优轨迹设计与两阶段控制策略实现快速可靠任务执行，并经仿真与实际飞行实验验证。
摘要：
四旋翼的负载抓取与运输是过去十年中迅速发展的活跃研究领域。为了在无人交互的情况下抓取负载，大多数最先进的方法采用连接在四旋翼机身上的机械臂。然而，由于这些空中机械臂重量大且功耗高，其敏捷性和飞行时间受到限制。本文提出了一种运动控制与规划方法，用于使用轻量化、被动式机械臂结构进行运输，该结构由通过1自由度旋转关节连接到四旋翼的钩子组成。为了执行负载抓取、运输和释放，首先，通过特定航点设计时间最优参考轨迹，以确保任务的快速可靠执行。然后，开发了一种两阶段运动控制方法，该方法基于鲁棒几何控制器以实现精确可靠的参考跟踪，并基于线性二次负载调节器以实现负载摆动的快速设定点稳定。此外，从数学上证明了闭环系统的稳定性，为其运行提供了安全保证。所提出的控制架构和设计在高保真物理模拟器以及实际飞行实验中，使用定制的四旋翼-钩子机械臂平台进行了评估。
英文摘要：
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are attached to the quadcopter body. However, due to the large weight and power consumption of these aerial manipulators, their agility and flight time are limited. This paper proposes a motion control and planning method for transportation with a lightweight, passive manipulator structure that consists of a hook attached to a quadrotor using a 1 DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear--quadratic payload regulator for rapid setpoint stabilization of the payload swing. Furthermore, stability of the closed-loop system is mathematically proven to give safety guarantee for its operation. The proposed control architecture and design are evaluated in a high-fidelity physical simulator, and also in real flight experiments, using a custom-made quadrotor--hook manipulator platform.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
