Research on Mechanical Claw Control Method for UAV with Robotic Arm

This paper investigates a mechanical claw control method, wherein an applicable mechanical claw includes a finger and a micromotion position compensation mechanism that drives the finger to move along the axial direction of the mechanical claw, and the steps of the control method include obtaining task information, calculating a desired opening and closing degree of the finger according to the task information; issuing a preopening command to preopen the finger; calculating a projection deviation of the fingertip in the axial direction of the mechanical claw according to the desired opening and closing degree of the finger; and controlling a micromotion The position compensation mechanism adjusts the position of the finger in the axial direction of the mechanical claw. Taking fully into account the influence of the finger movement path as an arc on the offset of the gripping point, the offset can be compensated so that the actual position of the workpiece to be gripped is consistent with the preset position, avoiding pressing on the part of the workpiece that can not withstand the pressure, and gripping the workpiece with the accurate degree of opening and closing to avoid knocking out the workpiece.