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Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system
Meng XD(孟祥冬); He YQ(何玉庆); Gu F(谷丰); Li Q(李琦); Han JD(韩建达)
作者部门机器人学研究室
会议名称36th Chinese Control Conference, CCC 2017
会议日期July 26-28, 2017
会议地点Dalian, China
会议主办者Dalian University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录名称Proceedings of the 36th Chinese Control Conference, CCC 2017
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2017
页码1156-1161
收录类别EI ; CPCI(ISTP)
EI收录号20174404319606
WOS记录号WOS:000432014401159
产权排序1
ISSN号1934-1768
ISBN号978-1-5386-2918-5
关键词Aerial Manipulation Overall Dynamics Mass-inertia Parameters Gain Schedule
摘要

Rotorcraft Aerial Manipulator (RAM) system is composed of a Rotorcraft Unmanned Aerial Vehicle (RUAV) and a multi Degree-Of-Freedom (DOF) manipulator, which is designed to fulfill aerial manipulation. Moments of inertia and center-of-mass position for RAM system vary when the manipulator moves. The influence of robot arm motion is treated as perturbations for RUAV in the process of overall system modeling. External force and torque acting on the RUAV body exerted by environment are also considered in system dynamics. A practical overall dynamics model is then obtained through analysis and simplification of the RAM system. The control system structure and corresponding simulation results under different controllers are presented. The gain schedule PID controller in this paper can stabilize the system while the robot arm moves.

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/173321/21078
专题机器人学研究室
通讯作者Meng XD(孟祥冬)
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
推荐引用方式
GB/T 7714
Meng XD,He YQ,Gu F,et al. Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system[C]//Dalian University of Technology, Systems Engineering Society of China (SESC), Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). Piscataway, NJ, USA:IEEE Computer Society,2017:1156-1161.
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