マルチコプタのための反動抑制機構を備えたロボットアームの開発

抄録

The motion of robotic arm attached to a multicopter can possibly disturb the multicopter attitude. We previously developed a robotic arm that reduce the ill effect on the attitude of multcopter. In this paper, a simplified model for this robot arm is used, and the configuration of the robot arm where the sum of the angular momentum of the rotating parts becomes 0 is described. We show the effectiveness through an outdoor experiment. Furthermore, we demonstrate that this arm can put a rope ladder as an application example.