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What is Kinematic Patterns

Chapter 9
Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics
A set of time course functions that describes the wing movements during flying in reference to a relative set of degree-of-freedom. Their objective is to replicate the kinematics of free flying in birds and insects.
Published in Chapter:
Control of a Wing Type Flat-Plate for an Ornithopter Autonomous Robot With Differential Flatness
Elkin Yesid Veslin Díaz (Universidade Federal do Rio de Janeiro, Brazil), Cesar Francisco Bogado-Martínez (Universidad Nacional de Asunción, Paraguay), Max Suell Dutra (Universidade Federal do Rio de Janeiro, Brazil), and Luciano Santos Constantin Raptopoulos (Centro Federal de Educação Tecnológica Celso Suckow da Fonseca, Brazil)
Copyright: © 2020 |Pages: 37
DOI: 10.4018/978-1-7998-0137-5.ch009
Abstract
In this chapter, a two-degree-of-freedom controller that exploits the flat properties of a three degree-of-freedom wing type flat-plate for an Ornithopter Autonomous robot is proposed. A set of kinematical patterns inspired by nature is used to simulate the wing's movement around two wingtip trajectories; also, the effects of the aerodynamical forces as a function of the wind velocity and the wing's angle of attack are considered. In order to control the system, the effects of these forces are viewed as disturbs that affect the wing's dynamics. The proposed control scheme drives the device through the desired path by generating a set of desired inputs which are compensated by a feedback loop when the aerodynamical forces actuate upon the system.
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