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《Acta Aeronautica Et Astronautica Sinica》 2010-10
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A Multi-propeller and Multi-function Aero-robot and Its Motion Planning of Leg-wall-climbing

Ding Xilun,Yu Yushu(Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)  
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.
【Fund】: 国家自然科学基金(50975008)
【CateGory Index】: V249.1
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