Inverse Dynamics Control of a Robotic Arm on an Autonomous Aerial Platform with Coupling Compensation

With the development of autonomous robots and artificial intelligence technology, aerial manipulation robots are increasingly gaining attention as replacements for humans in complex tasks. The control of the robotic arm of the robot during task execution poses significant challenges due to the dynamic coupling with the aerial platform. Conventional methods either suffer from performance degradation due to neglecting coupling, or rely on high computational performance of hardware, limiting their engineering practicality. This paper proposes an inverse dynamics control method with coupling compensation for a multi-DOF robotic arm on a ducted fan autonomous aerial platform. The controller combines a feedforward loop for real-time compensation of platform-induced nonlinear dynamics and a feedback loop for fast trajectory tracking. By decoupling the two loops, the method improves the control accuracy of the robotic arm under the floating platform without requiring high-performance hardware. Both simulations and experimental tests are carried out, and the results show that compared to the PID controller and the inverse dynamics controller without coupling compensation, the proposed method achieves precise joint trajectory tracking with smaller oscillations and errors, while the maximum root mean square error for each joint of the robotic arm is within 5.5 . .