支点開閉グリッパ搭載型クアッドチルトロータUAVを用いた空中ねじりマニピュレーション

抄録

This paper proposes aerial torsional manipulation by using a quad tilt-rotor UAV. Since the conventional multirotor UAV is an underactuated system and has low mobility, possible aerial manipulation is restricted. On the other hand, the quad tilt-rotor UAV has features of producing high torque around yaw axis and achieving independent position and attitude control by adding a mechanism to change the thrust direction with respect to the base body. In this paper, we develop an angular gripper to realize aerial torsional manipulation which is mounted on the quad tilt-rotor UAV. Finally, we aim to realize removing a light bulb using the quad tilt-rotor UAV as an application of the aerial torsional manipulation by virtue of this feature.