过驱动无人机机械臂的序列操作规划
Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators
AI总结：
本文针对无人机机械臂的序列操作规划问题，提出基于虚拟运动链的统一运动学与动力学规划方法，并在仿真与实验中首次展示过驱动UAM的多种序列操作能力。
摘要：
我们研究了无人机机械臂（UAMs）的序列操作规划问题。与以往主要关注单步操作任务的工作不同，序列操作要求UAM的浮动基座、机械臂和被操作物体之间协调运动，这需要在指定约束下建立统一的运动学与动力学模型进行运动规划。通过利用基于虚拟运动链（VKC）的运动规划框架，将各部件的运动学整合为一条链，UAM的序列操作任务可以作为一个整体进行规划，从而产生更协调的运动。将运动学与动力学模型集成到分层控制框架中，我们首次在仿真和实验中展示了一台过驱动UAM实现了一系列新的序列操作能力。
英文摘要：
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constraints. By leveraging a virtual kinematic chain (VKC)-based motion planning framework that consolidates components' kinematics into one chain, the sequential manipulation task of a UAM can be planned as a whole, yielding more coordinated motions. Integrating the kinematics and dynamics models with a hierarchical control framework, we demonstrate, for the first time, an over-actuated UAM achieves a series of new sequential manipulation capabilities in both simulation and experiment.
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。
