Multirotor with two arms: multirotor/arms interaction

Unlike fixed base manipulators, in an aerial manipulation robot the reaction wrenches caused by the motion of the arms or the physical interactions raised on flight are supported by the aerial platform, causing typically undesired oscillations in the attitude or deviations in the position that may complicate the realization of grasping tasks or installation operations. Since it is difficult to appreciate this effect on flight due to the action of the autopilot and the noise generated by the propellers, the goal of this dataset is to analyze qualitatively the effect of the motion of a dual arm manipulator over the attitude of a multirotor platform supported by wires, emulating hovering conditions. In particular, it is interesting to evaluate the partial reaction compensation capability of a dual arm manipulator, generating coordinated symmetric trajectories to cancel the reactions in two axes (roll and yaw). The data logs also reveal how the reaction oscillation in the multirotor is higher as the velocity/acceleration of the arms increases. This dataset is obtained with the dual arm aerial manipulator (DJI Matrice 600 hexarotor equipped with USE dual arm) hanging from four cables attached to the multirotor base emulating hovering conditions. Although the datasets presented here were obtained with a particular platform and dual arm manipulator, these may result of interest for a preliminary analysis of the dynamic coupling effect. The orientation data was obtained with a STM32F3 Discovery board attached to the multirotor base, providing the measurements from the accelerometer, gyroscope and magnetometer sensors. The arms are built with the Herkulex DRS-0402 and DRS-0602 servos and a customized aluminium frame structure. The experiments consist of generating a sequence of rotations around the shoulder pitch and shoulder yaw joints with one arm (non-compensated reaction wrenches) and with both arms (partial reaction compensation), considering different joint speeds. The measurement given by the gyroscope in the roll-pitch-yaw angles is evaluated to analyze the amplitude of the reaction wrenches.

与固定基座操作臂（fixed base manipulators）不同，空中操作机器人（aerial manipulation robot）的飞行平台需承受由机械臂运动或飞行过程中物理交互产生的反作用力旋量（reaction wrenches），这通常会引发非期望的姿态振荡与位置偏差，进而可能增加抓取任务或安装操作的实现难度。由于自动驾驶仪（autopilot）的调控作用与螺旋桨（propeller）产生的噪声，在实际飞行场景中难以直接观测到该效应。因此，本数据集旨在定性分析双臂操作臂（dual arm manipulator）的运动对绳索悬挂式多旋翼平台（multirotor platform）姿态的影响，模拟悬停工况（hovering conditions）。

具体而言，本研究旨在评估双臂操作臂的部分反作用力补偿能力（partial reaction compensation capability），通过生成协调对称轨迹以抵消滚转（roll）与偏航（yaw）两个轴的反作用力。数据日志（data logs）还显示，多旋翼的反作用力振荡幅度随机械臂的运动速度与加速度提升而增大。

本数据集采集自双臂空中操作平台：搭载USE双臂的DJI Matrice 600六旋翼飞行器通过四根绳索悬挂于多旋翼基座，以此模拟悬停工况。尽管本数据集仅基于特定平台与双臂操作臂采集，但可为动态耦合效应（dynamic coupling effect）的初步分析提供参考价值。

姿态数据通过搭载于多旋翼基座的STM32F3 Discovery开发板采集，该板可输出加速度计（accelerometer）、陀螺仪（gyroscope）与磁力计（magnetometer）传感器的测量数据。机械臂由Herkulex DRS-0402与DRS-0602伺服电机以及定制化铝制框架结构组成。

实验设置包含两种场景：单臂操作（反作用力旋量未补偿）与双臂协同操作（反作用力旋量部分补偿），分别围绕肩俯仰（shoulder pitch）关节与肩偏航（shoulder yaw）关节生成一系列旋转运动，并设置不同的关节运动速度。本研究通过分析陀螺仪输出的滚转-俯仰-偏航（roll-pitch-yaw）角度数据，评估反作用力旋量的幅值。