论文标题
使用混合力和位置NMPC进行空中操作，应用于空中写作
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
论文作者
论文摘要
空中操纵旨在将航空车辆的可操作性与机器人臂的操纵能力相结合。但是，由于两个系统的动力学耦合，这是以额外控制复杂性为代价的。在本文中，我们提出了专为配备机器人臂的MAV设计的NMPC。我们为组合的MAV-ARM系统制定了混合控制模型，该模型结合了作用于末端效应器的相互作用力。我们解释了我们算法的实际实现，并显示了我们自定义构建系统的广泛实验结果，这些系统在白板上执行多个空中编写任务，从而揭示了毫米的准确性。
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a NMPC specifically designed for MAVs equipped with a robotic arm. We formulate a hybrid control model for the combined MAV-arm system which incorporates interaction forces acting on the end effector. We explain the practical implementation of our algorithm and show extensive experimental results of our custom built system performing multiple aerial-writing tasks on a whiteboard, revealing accuracy in the order of millimetres.
