Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system
	Li Q(李琦); Meng XD(孟祥冬); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达)
	2017
会议名称	36th Chinese Control Conference, CCC 2017
会议日期	July 26-28, 2017
会议地点	Dalian, China
关键词	Aerial manipulation overall dynamics mass-inertia parameters gain schedule
页码	1156-1161
通讯作者	Meng XD(孟祥冬)
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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	Proceedings of the 36th Chinese Control Conference, CCC 2017
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1934-1768
ISBN号	978-1-5386-2918-5
WOS记录号	WOS:000432014401159
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21078]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.University of Chinese Academy of Sciences, Beijing, 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Li Q,Meng XD,He YQ,et al. Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system[C]. 见:36th Chinese Control Conference, CCC 2017. Dalian, China. July 26-28, 2017.