Dynamics modeling and simulation analysis for rotorcraft aerial manipulator system
文献类型：会议论文
| 作者 | Li Q(李琦) ; Meng XD(孟祥冬); He YQ(何玉庆); Gu F(谷丰); Han JD(韩建达)
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| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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