三次元フライングロボットの基礎的研究 : 第1報, フライングロボットのモデル化と姿勢補償地上実験

概要

論文の詳細を見る
For moving on rough terrain, flying robots have more flexibility for adaptation, from the viewpoint of locomotion, than the conventional wheel, crawled and leg robots. This paper shows a modelling and control method of such a fliyng robot which consists of a main flying body and an attached manipulator. For smplicity, the manipulator has two degrees of freedom, while the main body has four ducted fans driven by electric motors. This paper mainly focuses on the attitude compensation control of the robot in the case where the motion of the manipulator on board causes the unbalance of the inertia momentum and where the attitude of the robot changes. Results of simulation and experiments on the ground are also shown in this paper.
一般社団法人日本機械学会の論文
1991-01-25