The state-of-the-art works on deformable multirotor aerial robots have achieved the high ability in maneuvering, whereas there is no versatile aerial robot which can perform both deforming maneuvering and aerial manipulation yet. However, a novel multilinked aerial robot presented in our
previous work, called DRAGON, has both potential owing to the serial-link structure. Therefore, an online motion planning method for such a mutlilinked aerial robot is necessary. In this paper, we first reveal the general statics model of the multilinked aerial robot, which involves the influence of joint torque, the rotor thrust force, the external wrench, and the gravity, and further derive the necessary rotor thrust force and joint torque to compensate with the external force and gravity under the quasi-static assumption. Then, we propose a realtime motion planning method, which sequentially solves the differential kinematics problem with the consideration of the limitation of rotor thrust force and joint torque as well as kinematics constraints. Furthermore, we introduce the integrated control framework, which can both follow a quasi-static multilinks’ trajectory and compensate the external wrench.
M. Zhao, F. Shi, T. Anzai, K. Okada and M. Inaba, "Online Motion Planning for Deforming Maneuvering and Manipulation by Multilinked Aerial Robot Based on Differential Kinematics," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1602-1609, April 2020.
M. Zhao, T. Anzai, F. Shi, K. Okada and M. Inaba are with Department
of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku,
Tokyo 113-8656, Japan.