Ronzhin, A. and Ngo, T. and Vu, Q. and Nguyen, V. (2022) Mathematical Modeling of Motion Control of Air Manipulation System and Its Stabilization. In: Intelligent Systems Reference Library. Springer Science and Business Media Deutschland GmbH, pp. 227-249.
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The chapter provides a solution to the problem of synthesizing kinematic and dynamic models of the UAV manipulator, describes the structure of the UAV Manipulator Modeling software system, which provides modeling of control and movement of the UAV manipulator and its stabilization under the influence of disturbances. The output data is movement graphs of the center of mass of manipulator, trajectory graphs of each link of the manipulator, graphs of the angular velocity and angular acceleration of the links. These graphs allow you to evaluate the stability of the manipulator when working under the influence of disturbances and without it. When designing the motion control system of the UAV manipulator, it is necessary to calculate the dynamics of the manipulator, determine the equations of motion for each link of the manipulator and calculate the parameters of the manipulator controller. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
| Item Type: | Book Section |
|---|---|
| Divisions: | Offices > Office of International Cooperation Faculties > Faculty of Mechanical Engineering |
| Identification Number: | 10.1007/978-3-030-86826-0_11 |
| Additional Information: | Language of original document: English. |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/8558 |
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