Измерение, мониторинг, управление, контроль (Apr 2022)
KINEMATIC SCHEME AND MANIPULATOR CONFIGURATION CONTROL, INSTALLED ON AN UNMANNED AIRCRAFT
Abstract
Background. The object of the study is the design and configuration control of a manipulator mounted on an unmanned aircraft and designed to carry out individual rescue operations. The purpose of the work is to solve the problem of manipulator configuration management taking into account its design. Materials and methods. The task is reduced to solving direct and inverse kinematics problems. The apparatus of homogeneous transformation matrices and the description of generalized characteristics of the manipulator configuration represented by Denavit-Hartenberg parameters are used. Results. The direct kinematics problem for the manipulator under consideration is solved, including by the method of a recursive algorithm. An algorithm for manipulator configuration control by solving the inverse kinematics problem is proposed. Conclusions. The methods used to solve the problem of manipulator configuration management allow using a manipulator of the proposed design mounted on an unmanned aircraft to carry out rescue operations. The proposed algorithm for manipulator configuration control, which consists in determining the generalized characteristics of the final effector, then determining the generalized characteristics for its parent segments, setting the orientation and position in space of the intermediate effector (in particular, the arm rotation segment of the manipulator) and its parent segments with further setting the orientation and position of its child segments (including the working end of the manipulator), allows you to build the manipulator segments in an optimal configuration, taking into account the conditions of a rescue operation (such as the presence of obstacles in the work area, the orientation and position of the object over which the operation is performed).
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