# 注释  
(2024/11/28 12:19:49)

“Aerial Manipulator System” ([Liu 等, p. 1](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=1&annotation=ATQBSS25)) 飞行机械臂

“the UAV and the manipulator are tightly coupled in these two dimensions.” ([Liu 等, p. 1](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=1&annotation=27JS3MQU)) 什么叫做在两个维度上紧耦合：  
**运动维度**：位置和姿态的变化，即在**空间上的耦合**。  
**动力学维度**：力和扭矩的传递，即在**力学上的耦合**。

“However, as for the research on AMS planning, many solutions rely on image information for target detection, visual servoing and motion planning, which are susceptible to interference from light and obstacles” ([Liu 等, p. 2](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=2&annotation=LYCGECJ2)) 现有遥操作的问题1：  
现有的图像信息容易受到光线和障碍物的干扰

“However, in these approaches, the visual information obtained is limited, and the way of giving instructions is not intuitive enough.” ([Liu 等, p. 2](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=2&annotation=SKA2YY8Z)) 现有遥操作的问题2：  
获取到的图像信息有限，无法提供直观有效的命令

“However, in these studies, the teleoperation of UAV and manipulator is separate and fragmented. This means that at least two steps are required to complete the teleoperation task, controlling the UAV’s position and controlling the manipulator’s posture. In most cases, the UAV operator and the manipulator operator need frequent communication and tacit cooperation, which increases their cognitive burden.” ([Liu 等, p. 2](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=2&annotation=NNUVUQBH)) 现有遥操作的问题3：  
无人机的操作和无人机上机械臂的操作是分离的，两个操作员需要频繁的沟通

“only one operator without any prior training is needed to control the AMS to complete aerial tasks” ([Liu 等, p. 2](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=2&annotation=3Y5NHFYJ)) 创新点：只需要一位操作员，尽管没有接受过任何训练也能完成空中任务。

“Firstly, a digital twin model of the AMS is built by Unity, which allows the operator and AMS to share the same observation and action space. Secondly, VR trackers and controllers are utilized to intuitively control the state of manipulator, even when its kinematics are unknown. Thirdly, consider a practical scenario: when humans are unable to reach an object even with their arm fully extended, they will move in the direction of their arm to reach the object. Inspired by this behavior, a method of collaborative planning between UAV and manipulator is provided. The motion intention of the manipulator is utilized to guide the position of the UAV, enabling the manipulator to operate within a comfortable area. Through these methods, the manipulator and UAV will promptly respond to the operator’s commands, ensuring efficient aerial operations.” ([Liu 等, p. 2](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=2&annotation=88L496W3)) 创新点的具体实现步骤：  
1、使用Utility建立飞行机械臂的模型。  
2、在未知机械臂的运动学情况下，通过VR追踪器和收集器控制机械臂的状态。  
3、通过机械臂的运动意图来控制无人机的位置，实现无人机和机械臂的协同规划。

“Communication Architecture:” ([Liu 等, p. 3](zotero://select/library/items/JG8RHLY7)) ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=3&annotation=ZAQASKZ9)) 通讯架构

([Liu 等, p. 6](zotero://select/library/items/JG8RHLY7)) 无人机和机械臂的协同操作：  
在x,y,z方向对关节的运动范围设定了阈值，一旦某个方向的运动超过阈值，无人机就会向该方向进行运动。

[image] ([pdf](zotero://open-pdf/library/items/7ID7PEQ3?page=7&annotation=759SZ2I5))  
([Liu 等, p. 7](zotero://select/library/items/JG8RHLY7)) 飞行机械臂期望位置计算公式