Беспилотные летательные аппараты. Ч. 2: Модели беспилотных авиакомплексов со встроенны-ми манипуляторами
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Аннотация
В статье описано современное состояние в области беспилотных авиационных комплексов и воздушных манипуляторов, систем подводных роботов-манипуляторов. Дано краткое введение в использование манипуляторов в различных отраслях для различных приложений воздушного и подводного пространства. Представлен исчерпывающий обзор существующих коммерческих и экспериментальных прототипов подводных манипуляторов, охватывающий соответствующие аспекты, такие как конструктивные особенности, их возможности и достоинства, а также подробное сравнение. Проведен анализ преимуществ и недостатков как электрических, так и гидравлических манипуляторов. Кроме того, представлено подробное описание коммерчески доступных систем управления подводными манипуляторами, чтобы дать реалистичную картину существующей технологии и ее ограничений. Кроме того, представлена обширная библиография, охватывающая результаты исследований в области алгоритмов управления, включая низкоуровневое управление движением, высокоуровневое кинематическое управление и схемы планирования движения, а также вопросы реализации.
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