旋翼无人机交互作业动力学建模研究进展

doi:10.7527/S1000-6893.2022.27388

Abstract

Abstract: In recent years, manipulating rotorcraft UAVs have received widespread attention in academic, industrial and commercial fields, and have a wide range of applications because of its ability to combine the flexibility and maneuverability of rotorcraft UAVs with the operational capability of manipulators. The dynamics of the interaction between manipulating rotorcraft UAVs and environment is very complex, and the ability to accurately model the dynamics of the entire process of interaction with the environment is a critical factor affecting its performance. This paper firstly extends the dynamics modeling technology of manipulating rotorcraft UAV from flight mode to interactive manipulation mode and focuses on the latter; then classifies the interactive manipulation mode by different applications, and for the first time classifies the interactive task mode of manipulating rotorcraft UAV in detail according to the concept of constraints in multi-body system dynamics. The dynamics modeling methods are then investigated and analyzed, and the generalized dynamics modeling methods for each interactive manipulation mode are given, and the current status of domestic and international research is introduced. Finally, the challenges in this field are clarified and the future development trends are introduced.

Key words: rotorcraft UAV, manipulators, dynamic modeling, constraint, interactive manipulation

CLC Number:

DING Xilun, JIN Xueying. Research progress of rotorcraft UAV interactive manipulation dynamic modeling[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(10): 527388-527388.

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Research progress of rotorcraft UAV interactive manipulation dynamic modeling

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