机器人2015，Vol.37Issue(5)：628-640,13.DOI:10.13973/j.cnki.robot.2015.0628
作业型飞行机器人研究现状与展望
Survey on Aerial Manipulator Systems
摘要
Abstract
Aerial manipulator system (AMS) is a new type of robot system with active operating capability, which is composed of aerial robot (usually rotor flying robot, RFR) and the operating device (manipulator). However, there exist some challenging academic problems in AMS research due to the strong dynamics coupling between the manipulator and the RFR, and the sensitivity of the RFR to the external interference, such as the modeling and stabilization problem due to the center-of-gravity changing caused by the relative movement between the manipulator and the RFR, the coordinated control problem of the RFR and the manipulator, the steady control problem of the system when the arm contacting with the environment, as well as the kinematic and dynamic planning problems. This paper presents the review of achievements and progresses about the dynamic modeling, coupling analysis and autonomous control on the AMS according to the recently published literatures, and points out the critical problems in the research in detail and the key challenging problems and some future research directions.关键词
作业型飞行机器人/旋翼飞行机器人/系统建模/耦合分析/自主控制Key words
aerial manipulator system/rotor flying robot/system modeling/coupling analysis/autonomous control分类
信息技术与安全科学引用本文复制引用
杨斌,何玉庆,韩建达,刘光军,张广玉,王争..作业型飞行机器人研究现状与展望[J].机器人,2015,37(5):628-640,13.基金项目
国家自然科学基金青年基金项目(61305120) （61305120）
国家自然科学基金面上项目(61473282) （61473282）
辽宁省科学技术计划软科学研究计划项目(2013401032). （2013401032）
