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Rotor-flying manipulator: Modeling, analysis, and control
Yang B(杨斌); He YQ(何玉庆); Han JD(韩建达); Liu GJ(刘光军)
Department机器人学研究室
Source PublicationMathematical Problems in Engineering
ISSN1024-123X
2014
Volume2014Pages:1-13
Indexed BySCI ; EI
EI Accession number20142417806741
WOS IDWOS:000336131500001
Contribution Rank1
KeywordControllers Robots State Feedback
Abstract

Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS Research AreaEngineering ; Mathematics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15128
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
Recommended Citation
GB/T 7714
Yang B,He YQ,Han JD,et al. Rotor-flying manipulator: Modeling, analysis, and control[J]. Mathematical Problems in Engineering,2014,2014:1-13.
APA Yang B,He YQ,Han JD,&Liu GJ.(2014).Rotor-flying manipulator: Modeling, analysis, and control.Mathematical Problems in Engineering,2014,1-13.
MLA Yang B,et al."Rotor-flying manipulator: Modeling, analysis, and control".Mathematical Problems in Engineering 2014(2014):1-13.
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