基于Leap Motion和S曲线的飞行机器人机械臂控制研究

针对带有多自由度机械臂的飞行机器人，提出基于Leap Motion的控制方法以实现机械臂跟随人体手掌位置姿态运动的功能。采用DH方法建立了机械臂数学模型，给出了将Leap Motion获取的人手运动映射到机械臂末端的推导过程。利用7段S型曲线调速方法近似实现舵机角加速度连续没有突变，减轻了舵机快速响应给飞行器带来的冲击问题。设计制作了实物样机对控制方法的可实现性进行验证测试，在飞行测试中，成功地利用Leap Motion控制远端的机械臂抓取到地面目标。

Control method study for robotic arm of aerial manipulator system based on Leap Motion and S curve

New approach based on Leap Motion through which robotic arm can follow the movement of human hand was proposed for the aerial manipulator system coupled with multi degree-of-freedom robotic arm. Mathematical model of the robotic arm was built by using DH method, derivation process of mapping human hand movement captured by Leap Motion to the end of robotic arm was presented. 7-sections S curve was used to adjust the speed of servo to avoid abrupt change of its angular acceleration, in which way the impact on the aircraft caused by the sudden movement of the robotic arm could be eased. A prototype machine was designed and fabricated to test realizability of the control method, and during flight test, the method based on Leap Motion was used to control the robotic arm to pick up an object in the distance successfully.