Abstract
Aerial manipulator poses a challenging trajectory planning problem because of the dynamical coupling between the quadrotor and the robotic arms. Aiming at the system trajectory planning problems of the center of mass(CoM) offset after the dynamic swing of manipulator, this paper proposes a trajectory planning method based on inertial decomposition. Meanwhile, in the proposed method, the dynamic constraints of the quadrotor are also taken into account to ensure the pitch angle and angular velocity of quadrotors are suitable and feasible. A geometry controller is used to ensure accurate tracking of the planned trajectory. Simulations are carried out to verify the proposed method.
This work was supported by National key research and development program (2022YFC3005104), National Natural Science Foundation of China (92248303), Shenyang Science and Technology Plan (21-108-9-18), Shenyang Science and Technology Bureau (RC210477), Youth Innovation Promotion Association of the Chinese Academy of Sciences (Y2022065).
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Zhang, X., Yang, L., Zhang, G., Li, S., He, Y. (2023). Trajectory Planning of Aerial Manipulators Based on Inertial Decomposition. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_14
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