We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior UAM work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of the floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constraints. By leveraging a virtual kinematic chain (VKC)-based motion planning framework that consolidates components' kinematics into one chain, the sequential manipulation task of a UAM can be planned as a whole with more coordinated motions. Integrating the kinematics and dynamics models with a hierarchical control framework, we demonstrate, for the first time, an over-actuated UAM achieves a series of new sequential manipulation capabilities in both simulation and experiment.

翻译：本文研究无人机载机械臂（UAM）的序列操作规划问题。与以往主要关注单步操作任务的UAM工作不同，序列操作要求浮动基座、机械臂及被操作物体之间协调运动，需要在规定约束下建立统一的运动学和动力学模型以进行运动规划。通过利用基于虚拟运动链（VKC）的运动规划框架，该框架将各部件的运动学整合为单一链条，UAM的序列操作任务能够作为一个整体进行规划，实现更加协调的运动。将运动学与动力学模型与分层控制框架相结合，我们首次在仿真和实验中展示了一台过驱动UAM实现了一系列新的序列操作能力。