日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
飛行自由度向上のためのParallel linkedクアッドロータの開発と姿勢制御および過渡応答性改善
福田 拓生坂口 聡範滝本 隆潮 俊光
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2017 年 83 巻 854 号 p. 17-00207

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The quadrotors are useful for periodic inspections of tunnels and bridges. However, the conventional quadrotor has a problem such that it is impossible to control the rotational motion and the translational motion independently. Therefore, if the camera is attached on the bottom of the quadrotor, it is difficult to observe its upward direction. In this paper, we develop a novel quadrotor that has a parallel link to tilt itself. By increasing one degree of freedom of the quadrotor, we resolve the problems described above. And we derive a model of the developed quadrotor. Then, we consider a PID controller for the stabilization of the quadrotor at a specified hovering state. We derive gain parameters of the PID controller by which the controlled quadrotor is stabilized.

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© 2017 一般社団法人日本機械学会
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