Aerial Shooting Manipulator for Distant Grasping
Mengxin Xu, Siyuan Huang, Ruokun He, Dafang Yu, Hesheng Wang
Abstract
In this letter, the first prototype of an aerial shooting manipulator (ASM) powered by air pressure is proposed for distant grasping. The design of the ASM is described in detail, which is combined by a multirotor and a shooting manipulator including a pulse force generator, a retracting device and an end-effector. Compared to other types of aerial manipulators, the ASM can grasp the target in motion despite obstacles around the target and promote efficiency. To achieve a better control performance under parameter uncertainties, the adaptive sliding mode controller is designed for trajectory tracking of the aerial platform. In addition, a shooting point selection and trajectory modification strategy is proposed to ensure shooting the end-effector on the target. The trajectory is modified based on the original task waypoints to make flying distance as shortest as possible. The validity and effectiveness of the proposed method is demonstrated by both simulation results and real experiments in different situations.
BibTeX
@inproceedings{ral2023_aerialshootingma,
title = {Aerial Shooting Manipulator for Distant Grasping},
author = {Mengxin Xu and Siyuan Huang and Ruokun He and Dafang Yu and Hesheng Wang},
booktitle = {RA-L 2023},
year = {2023}
}