Mathematical model of the aerial robotic camera base on its geometric relationship

摘要

This paper introduces a novel mathematical model of the Aerial Robotic Camera (Cable-suspended Parallel Robot-CPR system). The novelty of the CPR model is the geometric relationship between the camera motion in the Cartesian coordinates (external coordinates) and motors angular positions in the joint coordinates (internal coordinates). This relationship is defined by the Jacobian matrix which is used for solving the kinematics and dynamics of the Aerial Robotic Camera. For the computation of the dynamic model, the Lagrange principle of virtual work is used. The Jacobian matrix used in the formulation of the Lagrange principle of virtual work has been adopted according to the construction of the mechanism of the Aerial Robotic Camera. The specific structures of the Aerial Robotic Camera play an important role in defining the kinematic and dynamic models of the CPR system. The general form of the CPR mathematical model is defined and presented. Several numerical examples are used for the CPR model validation.