Comparative Analysis of Nonlinear Dynamics of an Angular Velocity System of 2-DOF Aerial Manipulator with Different Physical Parameters

Abstract

The two-degree-of-freedom (2-DOF) aerial manipulator is composed of a quadrotor aircraft and a 2-DOF manipulator, which significantly expands the scope of grabbing and transporting objects. After the manipulator is installed on the quadrotor, the manipulator and the load will cause serious interference to the quadrotor, resulting in difficulty of system control and even instability. This paper presents a mathematical model of the angular velocity system of the 2-DOF aerial manipulator. The model considers the influence of the manipulator and the load on the quadrotor. Based on this model, the nonlinear dynamics of the angular velocity system of the 2-DOF aerial manipulator are analyzed by solving the equilibrium points, calculating the Lyapunov exponents, analyzing the dynamic bifurcation diagram, and drawing the dynamic region distribution map. It is found that angular velocity can produce the dynamic behaviors of sink, period-doubling, and chaos under certain circumstances. By analyzing the nonlinear dynamic behaviors of the angular velocity system under different manipulator postures, different manipulator configurations, different load masses, and different load resistances, the stability of the angular velocity system is analyzed to guide the use of the aerial manipulator more safely and efficiently.