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题名: Dynamics modeling and performance comparisons of two different rotor flying manipulators: main-tail-rotor VS eight-rotor
作者: 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
会议名称: 2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
会议日期: December 5-10, 2014
会议地点: Bali, Indonesia
会议录: 2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1339-1344
收录类别: EI
ISBN号: 978-1-4799-7396-5
摘要: Rotor flying manipulator (RFM) is a system composed of a rotorcraft and a manipulator. RFM possesses great potential applications and thus has got much concern of the researchers all over the world. However, controller design of the RFM is challenging because of the dynamical coupling between the rotorcraft and the manipulator perplexes the whole system model structure, so the flight performance of the system is more sensitive to some uncertainty factors. Generally, the rotorcraft system of the RFM can be a main-tail-rotor helicopter or multi-rotor aircrafts, which are of completely different flight characteristics. Thus, it is valuable to conduct quantitative coupling analysis of the RFM with different flight platforms. This paper is aimed at this problem. We first construct the dynamics model of the RFM system with respect to different flight platforms, respectively. Then, coupling force and moment are computed quantitatively, and the comparative analysis on the influence of the motion state on them is conducted. Finally, some conclusions are given to show different performances of different kinds of RFM systems.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15411
Appears in Collections:机器人学研究室_会议论文

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