In order to improve the stability of aerial grasping, it is necessary to design and validate the telecontrol algorithm of unmanned aerial vehicle (UAV). After establishing the whole dynamic model of an aerial telecontrol manipulator, based on the secondary development of virtual robot experimentation platform (V-REP), the precise description and the visual simulation of the robot system are realized. Moreover, a stabilization-grasping algorithm for UAV based on centroid acquisition and inverse kinematics is proposed, and a versatile simulation platform is developed. The results show that the simulation experimental platform provides a new solution for UAV telecontrol grasping.
MA Zhonghang, ZHANG Zhinan
. Design and Realization of a Versatile Simulation Platform for Telecontrol
Multi-Rotor Unmanned Aerial Vehicle with a Robotic Arm[J]. Journal of Shanghai Jiaotong University, 2020
, 54(6)
: 636
-642
.
DOI: 10.16183/j.cnki.jsjtu.2018.374
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