Control for Aerial Transportation Using a Quadrotor with a Multi-DOF Manipulator

摘要

This paper presents a control method for a quadrotor equipped with a multi-DOF manipulator to transport a common object to the desired position. By considering a quadrotor and robot arm as a combined system, called quadrorot-manipulator system, the kinematic and dynamitic models are built together in a general version using Euler-Lagrange(EL) equations. The impact on the quadrotormanipulator system caused by the object is also considered. The transportation task can be decomposed into five steps. The planning trajectory can be obtained when the initial and the fianl position of the object is given. With the combined dynamic model, we propose a control scheme consisting of position controller, attitude controller and manipulator controller to track the planning trajectory. To validate our approach, the simulation results of a transportation task with a quadrotor with a 2-DOF manipulator was presented.