Abstract
This paper presents the development of a flying robot which can carry payload up to 4.1 kg. This flying robot consists of four rotors and a body system. Its weight is 7080[g]. The maximum thrust is 14480[g]. Inertial measurement unit sensor (IMU) is used to acquire the posture information of the robot. Four incremental encoders are also used for rotor position sensing. Also, the speed of the DC motors is controlled by a Pulse Width Modulation (PWM) signal that is derived from the information of the IMU sensor and the encoders. Through hovering flight experiments, the effectiveness of the mechanism and the control system was verified.
