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Dynamics modeling and performance comparisons of two different rotor flying manipulators: main-tail-rotor VS eight-rotor
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
会议录名称2014 International Conference on Robotics and Biomimetics (ROBIO 2014)
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1339-1344
收录类别EI ; CPCI(ISTP)
EI收录号20152100877211
WOS记录号WOS:000380399500222
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15411
专题机器人学研究室
通讯作者Yang B(杨斌)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada
推荐引用方式
GB/T 7714
Yang B,He YQ,Han JD,et al. Dynamics modeling and performance comparisons of two different rotor flying manipulators: main-tail-rotor VS eight-rotor[C]. Piscataway, NJ, USA:IEEE,2014:1339-1344.
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