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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)
作者部门机器人学研究室
关键词Controllers Robots State Feedback
发表期刊Mathematical Problems in Engineering
ISSN1024-123X
2014
卷号2014页码:1-13
收录类别SCI ; EI
EI收录号20142417806741
WOS记录号WOS:000336131500001
产权排序1
摘要

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.

语种英语
WOS标题词Science & Technology ; Technology ; Physical Sciences
WOS类目Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS研究方向Engineering ; Mathematics
引用统计
被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15128
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位1.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
推荐引用方式
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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