摘要
旋翼飞行机器人是面向空中自主作业需求,将旋翼飞行器与多自由度机械臂相结合所提出的新型机器人.该机器人作业过程中旋翼飞行器、机械臂与作业目标之间的动态相对运动以及与作业目标接触过程中未建模外力、力矩扰动使自主控制受到极大挑战.本文将针对旋翼飞行机器人的结构演变及关键技术、作业机构集成技术进行综述.从动力学建模及动力学特性分析、动态运动约束/力约束下的协调规划、非结构环境下的运动和作业控制、面向任务动态操作的环境感知、面向任务的实验系统构建与实验验证五个方面初步构建了旋翼飞行机器人自主作业理论体系.
The rotary-wing flight robot is a new type of robot developed for aerial autonomous operations; it combines the rotary-wing flight aircraft with the multi-degrees-of-freedom manipulators. In the operation process of the robot, the following challenges are posed to the autonomous control： the dynamic relative motion of the rotary-wing flight aircraft,the manipulator and the operation object, and the unmodeled disturbance of external force and torque during contacting the operation object. In this paper, we give a brief review on the structure evolution, the key technology, and the operation mechanism integration technology of the rotary-wing flight robot. A preliminary theoretical framework in five aspects of the autonomous operation of the rotary-wing flight robot is built in this paper, which includes the dynamic modeling and dynamic property analysis, the coordinated planning under the dynamic motion constraints and the force constraints,the motion and operating control in unstructured environment, the environment perception of the task-oriented dynamic manipulation, the construction of the task-oriented experimental system and the experimental verification.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2015年第10期1278-1286,共9页
Control Theory & Applications
基金
国家自然科学基金项目(61433016)资助~~
关键词
旋翼飞行机器人
机械臂
动力学建型
协调规划
运动与作业控制
空中自主作业
rotary-wings flight robot
manipulators
dynamic models
coordinated planning
motion and operation control
aerial autonomous operation
