Rotor-Flying Manipulator : Modeling, Analysis, and Control
Joint Authors
Liu, Guangjun
Han, Jianda
Yang, Bin
He, Yuqing
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-03
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems.
However, the rotor-flying robot (RFR) is difficult to be made such redesign.
This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult.
Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted.
Firstly, the detailed dynamics model is constructed and analyzed.
Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state.
Finally, simulations are conducted and the results are analyzed to show the basic control performance.
American Psychological Association (APA)
Yang, Bin& He, Yuqing& Han, Jianda& Liu, Guangjun. 2014. Rotor-Flying Manipulator : Modeling, Analysis, and Control. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-476018
Modern Language Association (MLA)
Yang, Bin…[et al.]. Rotor-Flying Manipulator : Modeling, Analysis, and Control. Mathematical Problems in Engineering No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-476018
American Medical Association (AMA)
Yang, Bin& He, Yuqing& Han, Jianda& Liu, Guangjun. Rotor-Flying Manipulator : Modeling, Analysis, and Control. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-476018
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-476018