作业型飞行机器人研究现状与展望

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作业型飞行机器人研究现状与展望

杨斌1,2，何玉庆1，韩建达1，刘光军3，张广玉1,2，王争1

（1. 中国科学院沈阳自动化研究所机器人学国家重点实验室，辽宁沈阳110016；

2. 中国科学院大学，北京100049； 3. 瑞尔森大学，加拿大多伦多M5B 2K3）

摘要：作业型飞行机器人是指由飞行机器人（通常是旋翼飞行机器人）与作业装置（机械臂）共同组成的具有主动作业能力的一种新型机器人系统．由于主动作业装置与飞行机器人之间的紧密耦合，以及飞行机器人本身对外部干扰的敏感性，作业型飞行机器人系统的研究也面临着诸多难题，如：机械臂运动引起系统重心变化带来的建模与镇定问题，与外界持续接触作业时的安全协调控制问题，以及相应的运动学、动力学规划问题等等．本文将全面分析与总结近几年发表的资料与文献，对作业型飞行机器人系统及相应的动力学建模与耦合分析、自主控制等方面的主要研究成果进行综述，并对其中的关键问题与困难进行分析与展望．
关键词：作业型飞行机器人；旋翼飞行机器人；系统建模；耦合分析；自主控制
中图分类号：TP24 文献标识码：A 文章编号：1002-0446(2015)-05-0628-13

Survey on Aerial Manipulator Systems

YANG Bin1,2 ，HE Yuqing1 ，HAN Jianda1 ，LIU Guangjun3 ，ZHANG Guangyu1,2 ，WANG Zheng1

(1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;

2. University of Chinese Academy of Sciences, Beijing 100049, China; 3. Ryerson University, Toronto M5B 2K3, Canada)

Abstract: Aerial manipulator system (AMS) is a new type of robot system with active operating capability, which is composed of aerial robot (usually rotor flying robot, RFR) and the operating device (manipulator). However, there exist some challenging academic problems in AMS research due to the strong dynamics coupling between the manipulator and the RFR, and the sensitivity of the RFR to the external interference, such as the modeling and stabilization problem due to the center-of-gravity changing caused by the relative movement between the manipulator and the RFR, the coordinated control problem of the RFR and the manipulator, the steady control problem of the system when the arm contacting with the environment, as well as the kinematic and dynamic planning problems. This paper presents the review of achievements and progresses about the dynamic modeling, coupling analysis and autonomous control on the AMS according to the recently published literatures, and points out the critical problems in the research in detail and the key challenging problems and some future research directions.
Keywords: aerial manipulator system; rotor flying robot; system modeling; coupling analysis; autonomous control

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