Dynamics Modeling and Simulation Analysis for Rotorcraft Aerial Manipulator System

被引：0

作者：

Meng, Xiangdong ^{[1
,2
]}

He, Yuqing ^{[1
]}

Gu, Feng ^{[1
]}

Li, Qi ^{[1
]}

Han, Jianda ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China

[2] Univ Chinese Acad Sci, Beijing 100049, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

Aerial manipulation; overall dynamics; mass-inertia parameters; gain schedule;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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-ofmass 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.

引用

页码：1156 / 1161

页数：6

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