静力学を用いたエアリアルマニピュレーションにおける重心位置補償の実機による有効性検証

抄録

The purpose of this study is to implement of the Aerial manipulation using by drone equipped with two manipulators. In that case, when one manipulator called working arm holds to object, it can be compensated for center of gravity about the drone by other manipulator called tail. Therefore, we calculated rotation torque in fuselage added by working arm using statics in any position. After time, we calculated to each joint angle in tail for compensating center of gravity using that torque. After this work, we plan to experiment by actual machine after verification by simulation.