摘要
A multi-propeller and multi-function aero-robot which can realize both functions of flight and wall-climbing is presented in this article. The construction of this novel robot is designed. The working principle of the robot's multi-function including wall-climbing and flight is analyzed, especially the principle of attitude control with multi-propeller. The dynamics and kinematics model of the robot when it is in wall-climbing mode is researched. Based on the model, the motion planning of the robot in wall-climbing mode is studied by considering the principle of attitude control with multi-propeller. The stabilization controller of the robot when it is in wall-climbing mode is designed by using trajectory linearization control (TLC) method. The simulation research of the robot in leg-wall-climbing mode is finished in the environment of MATLAB software. Through simulation, the feasibility of the designed motion planning and the stabilization control algorithm of the robot are verified.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 2075-2086 |
| 页数 | 12 |
| 期刊 | Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica |
| 卷 | 31 |
| 期 | 10 |
| 出版状态 | 已出版 - 10月 2010 |
| 已对外发布 | 是 |