A Control Method for Flying Robots

This paper proposes a flight robot control method by controlling the flight robot to fly to a reference hover point and activating the robotic arm for grasping operations to grasp airborne objects. During the grasping operation, the first kinematics information of the multi rotor flight platform and the second kinematics information of the manipulator are obtained. According to the first kinematics information and the second kinematics information, calculate the disturbance force and disturbance torque of the manipulator base. According to the disturbance force and disturbance torque, the compensation force of the Six degrees of freedom pose compensation device is calculated. The Six degrees of freedom pose compensation device is controlled to output compensation force to compensate the pose disturbance of the manipulator base. This can improve the accuracy of pose control at the end of the robotic arm and achieve reliable grasping of aerial objects.