Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation
Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation
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DOI：
10.1109/lra.2018.2793344
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发表时间：
2018-01
影响因子：
5.2
通讯作者：
Moju Zhao;T. Anzai;Fan Shi;Xiangyu Chen;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Moju Zhao;T. Anzai;Fan Shi;Xiangyu Chen;K. Okada;M. Inaba
本文介绍了一种新型的可变形空中机器人DRAGON，它是一种具有多自由度空中变换能力的双转子嵌入式多连杆机器人。该新型空中机器人可以在$\mathsf {SE}(3)$中对多连杆的重心（CoG）进行全姿态控制，并可以实现多自由度的空中变换，该变换由每个连杆上原有的双自由度力矢量机构即双转子框架模块完成。基于齿轮定位的特殊定义，推导了系统的动力学特性，并将控制方法解耦为推力控制和转子框架控制。在推力控制中，考虑最小力范数以避免力饱和，发展旋翼框架控制方法以提高悬停和大规模空中变换时的平移和旋转稳定性。构建了由四个环节组成的样机，并进行了相关的初步实验。验证了新型机械设计和所提出的空中变换控制方法的可行性。
In this letter, we introduce a novel transformable aerial robot called DRAGON, which is a dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom (DoF) aerial transformation. The new aerial robot can control the full pose in $\mathsf {SE}(3)$ regarding the center of gravity (CoG) of multilinks and can render the multi-DoF aerial transformation, which is accomplished by the original two-DoF force vectoring mechanism on each link called the dual-rotor gimbal module. The dynamics is derived on the basis of the special definition of CoG orientation, followed by a control method decoupled into thrust force control and rotor gimbal control. In the thrust force control, the minimum force norm is considered to avoid force saturation, and the rotor gimbal control method is developed to enhance both translational and rotational stabilities during hovering and large-scale aerial transformation. The prototype composed of four links is constructed, and associated preliminary experiments are performed. The feasibility of the novel mechanical design and the proposed control method for the aerial transformation is demonstrated.