A B-spline based trajectory generation and optimization approach of a tendon-driven aerial grasper with logarithmic spiral grippers

This paper improves the structure of a four-finger tendon-driven aerial grasper (TAG) and proposes an effective grasping and delivering strategy. Oriented by grasping tasks, four logarithmic spiral-based fingers are symmetrically attached to a quadrotor base. The designed four-finger TAG is light in weight with satisfactory grasping capability of objects with different masses. The proposed grasping and delivery strategy includes a multi-objective optimal trajectory planner and a disturbance rejection tracking controller. A series of hardware experiments validate that the self-built TAG with the designed structure can effectively complete the grasping and delivery task by applying the proposed strategy.