| 内容提要: |
This paper presents an implementation of indoor autonomous aerial manipulator using a micro quadrotor and a single degree of freedom (DOF) gripper. The research extends the typical application of unmanned aerial vehicle (UAV) from passive observation and sensing to dynamic interaction with the environment. The main difficulty of aerial manipulator lies in precise positioning of aircraft, detection and manipulation of object, and stabilization in the presence of disturbance caused by gripper movements and interaction with object. Positioning and Navigation in GPS-denied environments is achieved using motion capture system that provides a real time position at the precision of millimeter. A single DOF gripper with passive mechanical compliance is employed for effective gripping. The Sigmoid function trajectory is planned in the ground station and sent to the flight platform. The system utilizes double closed loop PID controllers for attitude stabilization and navigation. Thus, the aerial manipulator is able to autonomously navigate, locate and grasp an object. Finally, we carry on hovering and grasping experiments to prove the feasibility of the system. |