Modeling of Autonomous Grasping Method for UAV Guided by Vision

Abstract

For the current problems of separation of flight control and gripping control of the gripping UAV and redundancy of UAV degrees of freedom and robotic arm degrees of freedom. In this paper, the characteristics of multi-rotor UAV with high mobility and multiple degrees of freedom are used to replace the traditional mechanical gripper structure. At the same time, binocular vision technology is used for target information acquisition, the target position is converted into UAV flight attitude control commands, and conduct mathematical modeling and analysis of a multi-rotor grasping UAV.