基于四旋翼的空中机械手机器人

IF 1.8 4区综合性期刊 Q2 MULTIDISCIPLINARY SCIENCES

Journal of the Indian Institute of Science Pub Date : 2025-02-26 DOI:10.1007/s41745-024-00457-1

Vidya Sumathy, Debasish Ghose

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引用次数: 0

摘要

空中机械手正越来越多地应用于许多领域。本文综述了文献中设计和报道的几种基于四旋翼的空中机械手（QAM）。在简要回顾了航空机械臂系统的发展历史之后，介绍了QAM系统的主要组成部分，以及设计者在控制器设计、使用的各种方法和一些实际控制系统实现方面面临的各种挑战。最后，本文给出了一个自主设计的QAM系统的完整设计和硬件现场实验。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Quadrotor-Based Aerial Manipulator Robotics

Aerial manipulators are being increasingly used in many applications. This paper surveys several quadrotor-based aerial manipulators (QAM) that have been designed and reported in the literature. After a brief review of the history of the developments in aerial manipulator systems, it presents the main components of the QAM system and the various challenges faced by designers in terms of controller design, the various methods used and some actual control system implementations. Finally, the paper presents a complete design and hardware field experiment of an in-house-designed QAM system.

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来源期刊

Journal of the Indian Institute of Science MULTIDISCIPLINARY SCIENCES-

CiteScore

4.30

自引率

0.00%

发文量

期刊介绍： Started in 1914 as the second scientific journal to be published from India, the Journal of the Indian Institute of Science became a multidisciplinary reviews journal covering all disciplines of science, engineering and technology in 2007. Since then each issue is devoted to a specific topic of contemporary research interest and guest-edited by eminent researchers. Authors selected by the Guest Editor(s) and/or the Editorial Board are invited to submit their review articles; each issue is expected to serve as a state-of-the-art review of a topic from multiple viewpoints.