Dynamic Grasping of Aerial Manipulator Based on Coupling Disturbance Compensation Caused by Manipulator and Load
Hao Li, Jiayu Liu, Zhan Li, Tong Wu, Quman Xu, Chen Dong, Xuebo Yang · 2023
Compared with the grasping of the manipulator on the fixed base, the dynamic grasping of the aerial manipulator on the UAV floating base is a more challenging task. The strong coupling disturbance caused by the manipulator and the load can seriously affect the position tracking performance of the UAV base, leading to the inability of the manipulator's end-effector to accurately reach the grasping position, resulting in the failure of dynamic grasping. To address the issue, this paper presents a coupling disturbance compensation method that comprehensively considers the motion of the manipulator and the load on the end-effector. It can effectively compensate the strong coupling disturbance caused by the manipulator and the load and greatly improve the position tracking performance of the UAV base. In addition, considering that the aerial manipulator is also affected by lumped disturbances such as various uncertainties and wind disturbances, we propose an end-effector position compensation method based on inverse kinematics, so that the end-effector can reach the target position more accurately during the dynamic grasping process. Finally, three sets of comparative simulation results under two scenarios demonstrate the effectiveness of the proposed method.