上海交通大学 机械与动力工程学院， 上海 200240
出版日期:2020-06-28发布日期:2020-07-03通讯作者:张执南，男，副教授，博士生导师，电话(Tel.): 021-34208037；E-mail: zhinanz@sjtu.edu.cn.作者简介:马仲航（1994-），男，吉林省长春市人，硕士生，研究方向为机器人控制与机器人仿真.基金资助:教育部人文社会科学研究专项任务（17JDGC008）资助项目Design and Realization of a Versatile Simulation Platform for Telecontrol Multi-Rotor Unmanned Aerial Vehicle with a Robotic Arm
MA Zhonghang,ZHANG ZhinanSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Online:2020-06-28Published:2020-07-03摘要/Abstract
摘要： 为提高无人机遥操抓取的稳定性，需设计和验证无人机空中遥操控制算法.建立空中遥操机械臂整体动力学模型，基于Virtual Robot Experimentation Platform (V-REP)软件的二次开发，实现对机器人系统的动力学精确描述和可视化仿真.在此基础上，提出基于质心采集和运动学逆解的无人机增稳-抓取算法，开发多功能仿真实验平台.研究结果表明：所建立的仿真实验平台为无人机的遥操抓取提供了新的解决方案.
关键词: 无人机, 机械臂, 仿真, 遥操作
Abstract: In order to improve the stability of aerial grasping, it is necessary to design and validate the telecontrol algorithm of unmanned aerial vehicle (UAV). After establishing the whole dynamic model of an aerial telecontrol manipulator, based on the secondary development of virtual robot experimentation platform (V-REP), the precise description and the visual simulation of the robot system are realized. Moreover, a stabilization-grasping algorithm for UAV based on centroid acquisition and inverse kinematics is proposed, and a versatile simulation platform is developed. The results show that the simulation experimental platform provides a new solution for UAV telecontrol grasping.
Key words: unmanned aerial vehicle (UAV), manipulator, simulation, telecontrol
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