Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
To realize an aerial manipulation by using a multicopter with a robot arm, a control of its center of gravity is required. For safe flight, it is necessary to obtain its parameters utilized for multicopter control before take-off. However, the accuracy of parameter estimation depends on the posture of the robot arm used for calibration, and its appropriate posture has not been discussed yet. Therefore, in this research, we propose a method to calculate the optimal posture using a simulation focusing on measurement errors. Experiment result show that the multicopter can control the arm without losing its posture by using estimating the parameters using the proposed optimal posture.
