Dynamics Modeling and Simulation Analysis for Rotorcraft Aerial Manipulator System
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- 英文论文题名：Dynamics Modeling and Simulation Analysis for Rotorcraft Aerial Manipulator System
- 论文作者：Xiangdong Meng ; Yuqing He ; Feng Gu ; Qi Li ; Jianda Han
- 英文论文作者：Xiangdong Meng ; Yuqing He ; Feng Gu ; Qi Li ; Jianda Han ; State Key Laboratory of Robotics ; Shenyang Institute of Automation ; Chinese Academy of Sciences ; University of Chinese Academy of Sciences
- 年：2017
- 作者机构：State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;University of Chinese Academy of Sciences;
- 英文论文关键词：Aerial manipulation ; overall dynamics ; mass-inertia parameters ; gain schedule
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：3120k
- 原文格式：D
- 会议级别：全国
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.
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.
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.
引文
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[2]M.Orsag,C.M.Korpela,S.Bogdan,et al.,Hybrid Adaptive Control for Aerial Manipulation,IEEE Journal of Intelligent and Robotic Systems,73(1-4):693-707,2014.
[3]P.E.I.Pounds and A.M.Dollar,Stability of Helicopters in Compliant Contact Under PD-PID Control,IEEE Transactions on Robotics,30(6):1472-1486,2014.
[4]Zhang GY,He YQ,Gu F,et al.,Varying Inertial Parameters Model Based Robust Control for An Aerial Manipulator,IEEE International Conference on Robotics and Biomimetics,2016:696-701.
[5]H.N.Nguyen and D.Lee,Hybrid force/motion control and internal dynamics of quadrotors for tool operation,IEEE/RSJ International Conference on Intelligent Robots and Systems,2013:3458-3464.
[6]T.W.Danko and P.Y.Oh,Evaluation of visual servoing control of aerial manipulators using test gantry emulation,International Conference on Unmanned Aircraft Systems,2014:821-829.
[7]Y.Bing,H.Yuqing,H.Jianda and L.Guangjun,Modeling and control of rotor-flying multi-joint manipulator,The 19th World Congress of the International Federation of Automatic Control,2014:11024-11209.
[8]John J.Craig,Introduction to Robotics:Mechanics and Control,3rd ed.,Pearson,2005:62-80.
[9]T.Bresciani,Modelling,Identification and Control of a Quadrotor Helicopter,Lund University Department of Automatic Control,2008:50-78.
[10]F.Forte,R.Naldi,A.Macchelli and L.Marconi,On the control of an aerial manipulator interacting with the environment,IEEE International Conference on Robotics and Automation,2014:4487-4492.
[11]S.Dalei,M.Xiangdong,Q.Juntong and H.Jianda,Strategy of dynamic modeling and predictive control on 3-dof rotorcraft aerial manipulator system,Jiqiren/Robot,37(2):152-160,2015.
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[13]Voos,H.,Nonlinear control of a quadrotor micro-UAV using feedback-linearization,IEEE International Conference on Mechatronics,2009:4487-4492.
[14]Lee,D.,et al.,Feedback linearization vs.adaptive sliding mode control for a quadrotor helicopter,International Journal of control,Automation and systems,7(3):419-428,2009.