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Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

机译:拟人化双臂空中机械手的基于集合的逆运动学控制

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The paper presents a multiple task-priority inverse kinematics algorithm for a dual-arm aerial manipulator. Both tasks defined as equality constraints and inequality constraints are handled by means of a singularity robust method based on the Null-Space based Behavioral control. The proposed schema is constituted by the inverse kinematics control, that receives the desired behavior of the system and outputs the reference values for the motion variables, i.e. the UAV pose and the arm joints position, and a motion control, that computes the vehicle thrusts and the joint torques. The method has been experimentally validated on a system composed by an underactuated aerial hexarotor vehicle equipped with two lightweight 4-DOF manipulators, involved in operations requiring the coordination of the two arms and the vehicle.
机译:提出了一种双臂航空机械手的多任务优先逆运动学算法。定义为等式约束和不等式约束的两个任务均通过基于基于空空间的行为控制的奇异性鲁棒方法来处理。所提出的方案由逆运动学控制构成,该运动学控制接收系统的期望行为并输出运动变量(即无人飞行器的姿态和手臂关节位置)的参考值,以及运动控制,计算车辆的推力和关节扭矩。该方法已在由配备有两个轻量级4-DOF机械手的欠驱动空中六旋翼飞行器组成的系统上进行了实验验证,该系统涉及需要两个臂和飞行器协调的操作。

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