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：本文提出了一种高效的轨迹规划和控制方法，用于使用空中机器人进行运载和运输任务。所提出的操纵器结构由一个钩子，通过1个自由度旋转关节连接到无人机上。为了执行载荷操纵、运输和释放，首先通过特定的航点设计了最优时间参考轨迹，以确保任务的快速可靠执行。然后，开发了一种基于健壮的几何控制器和线性 - 二次载荷调节器的两阶段运动控制方法，用于精确可靠的参考轨迹跟踪和快速集点稳定载荷摆动。所提出的控制架构和设计在高保真物理模拟器中进行了评估，并在实际飞行实验中进行了测试。