无人机机械臂抓取动作的协调运动规划  

Coordinated motion planning of unmanned aerial vehicle’s manipulator in the process of grasping manoeuvre

作　　者：郑方圆 张扬 申琨凡 常宗瑜[1] 郑中强[1] ZHENG Fang-yuan;ZHANG Yang;SHEN Kun-fan;CHANG Zong-yu;ZHENG Zhong-qiang(School of Engineering,Ocean University of China,Qingdao 266100)

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《机械设计》2022年第2期24-29,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51875540);国家自然科学基金资助项目(51809245)。

摘　　要：近年来无人机在勘测救灾、空中观测、摄像等领域得到了广泛应用,搭载机械臂后无人机还可以完成样品采集等任务。受作业环境影响和无人机机械臂系统自身限制,为保证作业效率和设备安全,有必要对其运动进行规划。文中在运动学基础上采用梯度投影运动规划算法,对无人机机械臂抓取目标物进行运动规划,利用模糊推理确定其中的参数,并进行仿真试验验证。仿真结果表明该算法可有效对无人机机械臂的运动进行规划,并能协调无人机和机械臂运动,实现对目标物准确抓取。In recent years,unmanned aerial vehicles(UAV) are widely used in the fields of survey and disaster relief,aerial observation,video shooting and so on.The manipulators also complete such tasks sample collection.Due to the influence of operating environment and limitations of the UAV’s mechanical arm system,it is necessary to explore UAV’s motion planning,in order to ensure their operating efficiency and equipment safety.In this article,the algorithm of gradient projection motion planning based on kinematics is adopted to carry out motion planning for the UAV’s mechanical arm system,in order to grab the object.Various parameters are determined by means of fuzzy reasoning,and a series of simulation experiment are carried out.These results show that with the help of the algorithm,the UAV’s movement is effectively planned and coordinated,and realize accurate capture of objects.

关 键 词：无人机机械臂 梯度投影法 模糊推理 协调 抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]