ロータ分散型飛行マニピュレータの作業能力の向上に向けた機体構成および非線形安定化制御

抄録

The manipulation performance improvement is crucial for aerial robots. The rotor-distributed aerial robots can generate larger wrenches than the conventional aerial robots with arms and improve aerial manipulation performance. However, flight stability decreases when the number becomes small. In this paper, we introduce the design and control method for these rotor-distributed manipulators with quad rotors. In mechanical design, we design a novel dual-rotor vectoring apparatus. Furthermore, we proposed a nonlinear control system that can adapt to the minimal rotor-distributed manipulator configuration for stable flight. In the experiment, we demonstrate that the proposed rotor-distributed aerial robot can achieve stable flight and maneuver with joints.