The paper proposes an efficient trajectory planning and control approach for payload grasping and transportation using an aerial manipulator. The proposed manipulator structure consists of a hook attached to a quadrotor using a 1 DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear--quadratic payload regulator for rapid setpoint stabilization of the payload swing. The proposed control architecture and design are evaluated in a high-fidelity physical simulator with external disturbances and also in real flight experiments.

翻译：本文提出了一种面向空中操作器载荷抓取与运输任务的高效轨迹规划与控制方法。所提出的操作器结构由通过单自由度旋转关节连接至四旋翼飞行器的吊钩构成。为完成载荷的抓取、运输与释放，首先通过特定航点设计时间最优参考轨迹，以确保任务执行的快速性与可靠性。继而开发了两阶段运动控制方法：基于鲁棒几何控制器实现精确可靠的参考轨迹跟踪，并结合线性二次型载荷调节器实现载荷摆动的快速设定值稳定。所提出的控制架构与设计在含外部扰动的高保真物理仿真环境及真实飞行实验中均得到验证。