Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.

翻译：迄今为止，利用对偶四元数对带悬挂负载的机器人系统进行运动学与动力学建模尚未得到探索。本文提出了一种创新的控制策略，采用对偶四元数实现对缆绳悬挂负载无人机的控制，重点解决吊索负载提升与跟踪问题。通过对偶四元数在数学上的高效性与紧凑性，实现了无人机及其悬挂负载动力学与运动学的统一描述，从而促进负载提升与轨迹跟踪的实现。仿真结果验证了所提策略的准确性、效率与鲁棒性。本研究为提出这一利用对偶四元数优势的货运无人机新型控制策略做出了重要贡献，有望为未来基于对偶四元数的欠驱动系统控制创新提供启发。