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Unified Dynamics And Control Of A Robot Manipulator Mounted On A Vtol Aircraft Platform, Peng Xu

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An innovative type of mobile manipulator, designated Manipulator on VTOL (Vertical Take-Off and Landing) Aircraft (MOVA), is proposed as a potential candidate for autonomous execution of field work in less-structured indoor and outdoor environments. Practical use of the MOVA system requires a unified controller that addresses the coupled and complex dynamics of the composite system; especially the interaction of the robotic manipulator with the aircraft airframe. Model-based controller design methods require explicit dynamics models of the MOVA system. Preliminary investigation of a two-dimensional MOVA system toward a dynamics model and controller design is presented in preparation for developing the controller …