面向任务的旋翼飞行机械臂自主作业与控制方法

Rotorcraft Aerial Manipulator is a new concept robotic system proposed for demand of autonomous operation in air, which consists of rotorcraft flying robot and multi-degree-of-freedom manipulator. New problems make autonomous control extremely difficult during the operation, such as dynamic relative motion among robot, manipulator and object during system operating, unmodeled disturbance of force and torque during touching with objects. This project commences systematic and thorough research for systems modeling and analysis, dynamic environment perception, coordinated control and planning of motion and operation as well as construction and verification of related task-oriented experiment platform. Three scientific problems during system autonomous operation are focused such as modeling and analysis of coupling dynamics between flying robot and manipulator; environment perception in three dimensional under task-oriented operations and coordinated control under unstructured environment with uncertain disturbances. The target is to establish research framework initially for autonomous operating and control of rotorcraft aerial manipulator, and commences experimental verification research for the missions of air sampling for polar expedition and replenishment between ships in dynamic case to promote robot development from ground, underwater and space operations to unstructured environment aerial operations. At the same time, this project is also a new exploration of robotic theory and the research results can provide important approach and technology supports for other operation-class mobile robot systems.

“旋翼飞行机械臂”是面向空中自主作业需求，将旋翼飞行机器人与多自由度机械臂相结合所提出的新概念机器人系统。该系统作业过程中机器人、机械臂与目标之间的动态相对运动以及与目标接触过程中未建模外力/力矩扰动使自主控制受到极大挑战。本项目将针对系统建模与分析、动态环境感知、运动和作业协调控制与规划以及面向任务的实验平台构建与验证等内容开展深入的研究工作。重点解决该系统自主作业过程存在的机/臂耦合动力学特性建模与分析、面向任务作业的三维动态环境感知问题以及非结构作业环境不确定扰动作用下的协调控制与规划三方面科学问题，初步建立起旋翼飞行机械臂自主作业与控制方法研究体系，并面向极地科考冰川空中取样以及动态舰船间空中补给任务开展实验验证研究，以此推动机器人实现继地面、水下、空间操作后向非结构环境空中作业发展。本项目亦是对机器人理论新探索，研究成果对于其它作业型移动机器人系统具有重要的方法与技术支撑作用。

随着科学技术的发展，飞行机器人的发展趋势由信息观测型向主动作业型转变。旋翼飞行机械臂不仅能在极端环境中作业，还能在危险复杂的环境中作业。因为机械臂是静不稳定系统，易受外界扰动影响，机械臂的运动及与外界的接触力、力矩将会对飞行机器人的稳定控制带来极大挑战，同时机械臂与目标之间的相对运动和随机的环境扰动，使作业过程的环境建模、机臂间的协调规划变得极为困难。针对以上问题，本项目对多自由度旋翼飞行机械臂系统动力学建模与分析，面向任务动态操作的环境感知方法，非结构环境下的协调运动和作业控制方法，动态运动约束、力约束下的协调规划方法与面向任务的实验方法进行了研究。本项目所构建的旋翼飞行机械臂系统，能够在室外风扰环进行实现成静态与动态目标抓取；所提出的旋翼无人机械臂系统自主控制与作业方法的研究，为后续舰船补给、极区任务奠定了基础。接触式飞行机械臂系统，能够实现基于逆动力学、姿态前馈的接触力控制、动态变化接触力跟踪控制、二维作业混合力/位置控制和三维作业混合力/位置控制等。能够帮助人们完成一些附着式作业任务，比如基础设施外墙检修，或高空高海拔等人类不可达区域的科考采样等任务。本项目的而研究成果对于飞行机器人的面向民用领域的实际应用奠定了理论基础，提供了飞行机器人应用的新思路。