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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Multirotor Aerial Platform with Manipulation System - Static Disturbances
verfasst von : Stanisław Gardecki, Andrzej Kasiński, Adam Bondyra, Przemysław Ga̧sior
Erschienen in: Automation 2017
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Abstract
Adding on-board manipulation system to flying robot rises a serious problem, as its operation strongly affects the overall stability of the aerial platform. With arms of the manipulation system moving during flight, the distribution of masses changes and extra dynamic reaction forces are generated. Such disturbances are usually not taken into consideration in the standard platform stabilization algorithms. This is why a new algorithm addressing such disturbances is necessary. Manipulators perform various movements, e.g. symmetric or independent. Therefore, it is necessary to evaluate the induced disturbances, both in qualitative and quantitative aspect. In this paper, the static reactions due to the changes of the system’s configuration during flight are investigated.