부산대학교 도서관

In order to solve the problems of poor flexibility and inconvenient installation in the process of unmanned aerial vehicle (UAV) tree barrier cleaning, a new modular tree barrier cleaning robot (TBCR) is proposed. Firstly, the structural design of the new TBCR was carried out based on the modular concept, and the structural characteristics and working principle of the robot were introduced in detail; Then, the position and attitude equations of this robot were established using Newton's theorem of motion and the Euler equation of the rigid body, respectively. Finally, the controller design of this robot was carried out based on the the PID control law, and the trajectory tracking control experiment was carried out. The experimental results show that the designed TBCR has good control accuracy, robustness and tracking effect, which can meet the working needs very well.