The research progress of the rotary-wing flight robot

摘要

The rotary-wing flight robot is a new type of robot developed for aerial autonomous operations; it combines the rotary-wing flight aircraft with the multi-degrees-of-freedom manipulators. In the operation process of the robot, the following challenges are posed to the autonomous control: the dynamic relative motion of the rotary-wing flight aircraft,the manipulator and the operation object, and the unmodeled disturbance of external force and torque during contacting the operation object. In this paper, we give a brief review on the structure evolution, the key technology, and the operation mechanism integration technology of the rotary-wing flight robot. A preliminary theoretical framework in five aspects of the autonomous operation of the rotary-wing flight robot is built in this paper, which includes the dynamic modeling and dynamic property analysis, the coordinated planning under the dynamic motion constraints and the force constraints,the motion and operating control in unstructured environment, the environment perception of the task-oriented dynamic manipulation, the construction of the task-oriented experimental system and the experimental verification.