This study aims at the construction of a robotic system that can precisely grind metal molds instead of skilled persons. For example, in case of plastic products like cellular phones, the surface-roughness must be from about 0.1 to 0.03 micrometers. Usually, it takes seven to eight hours for rough grinding and two to three hours for finishing grinding even if a skilled person grinds, which costs a lot of money. Development of an automatic grinding system will reduce the costs. Therefore, the goal of this study is to develop such a system. We use an industrial robot with six joints, and soft and ceramic whetstone to grind molds. We conducted some basic experiment and found that the robot can grind the mold as smooth as human to some extent.

抄録全体を表示

In substitution for a "tying" process by thread in tie-dyeing, this paper proposes usage of elastic cap with different thickness at the both ends. A cloth is pushed into the cap by a needle attached on the robot hand. It was confirmed that the cloth was tightened at the both ends of the elastic cap and the effect of the tie-dyeing was valid.

抄録全体を表示

In this paper, we propose an operation method for clearing the tableware on the plate by using a general-purpose robot hand with three soft fingers as one of the housework help robots. The tableware is required to be put on the plate. The shapes of the tableware are only assumed to be a circle. All dishes are assumed to have disappeared. And the goal is to move them to their storage. Our robot can recognize the positions of the tableware by using a camera fixed on the robot hand. After recognizing their positions, the robot decides the holding order that the robot can grasp them and selects their positions. The robot can adjust the grasping force by using force sensors on the fingers. As a result, the robot can clear the tableware on the plate smoothly.

抄録全体を表示

R&D to clarify the specifications of the in-vessel transporter (IVT) design in detail has been performed with feasible outputs, i.e., the demonstration of final installation to within 0.5 mm between the blanket module and two keys by using torque control to avoid any jamming as a result of excessive loading during the module installation process. In addition, rail connection and cable handling in the transfer cask, which are critical issues for IVT system, have been demonstrated from view points of the accurate connection of rail joint and compact design for cable handling mechanism to handle the cable of 75 mm in diameter.

抄録全体を表示

We are developing Tree Felling Robot with Chain Saw. In this paper, we show the requirements and specification of the robot. In our country, the chain saws are commonly used to fell a tree because forests cover on the steep ground and mountain. Therefore, we are developing the tree felling robot with chain saw. First, the requirements are shown. To fall the tree to the specific direction, the face cut (notch cut) must be made on the side of the direction. Next, the pre-experiment to lead the joint loads on the robots is described in detail. Finally, the robot we developed is shown.

抄録全体を表示

In this paper, we propose view-based teaching playback that uses view-based approach for robot teaching. As a result of the experiment, it was confirmed that view-based teaching playback enables a robot to execute tasks to some degree even if the working condition changed in a real environment. It was also confirmed that the playback is affected by the change of lighting condition. It is possible to cope with the change of the lighting condition to some degree by using histogram normalization or artificial brightness change, but further improvement is necessary.

抄録全体を表示

This paper describes an operation method for taking out a book from a bookshelf and storing a book on the bookshelf by using a robot arm with three soft-fingered hand. A stereo camera set up in the robot neighborhood can find the position of the book that has two red markers. The operation style of taking out and storage by the robot looks like a human operation. That is, the robot draws out the upper part of the book by using one finger; after this operation, the robot grasps the book by using the other two fingers, and takes out it. The storage operation is reverse order of taking out. In addition, the robot can flexibly grasp the book with force sensors on the soft fingers. As a result, the robot can arrange books by using the operation method.

抄録全体を表示

This study is to present an entirely new method which achieves higher speed of operation and highly accurate length measurement of products on a conveyor belt. We propose to measurement method of the length of products with a digital image taken by a digital camera. We discuss some technical problems to estimate the length of products with high accuracy. Of particular interest to us is how to make calibration curve to compensate the spherical aberration of a lens.

抄録全体を表示

The servo data is directly generated by geometric model interpolation without NC program. In this research the tool path generation system that is able to predict and compensate the tool deflection and fluctuation of cutting load is proposed. It is assumed that the cutting force and its direction of tool are leading cause of machining error. This report refers to the algorithm to calculate the cutting force and its direction of tool based on removal volume. The estimated cutting force and its direction are validated by machining test using by flat-end mill. Moreover the equation of cutting force is elicited by the machining test and measurement.

抄録全体を表示

This paper presents sloshing (liquid vibration) suppression control of a liquid container transfer with tilting. In this transfer system, liquid in the container is poured into a tray by tilting the container while the container is transferred. In this case, sloshing in the container is generated when the container is rapidly moved. Moreover, the natural frequency of sloshing is changed by tilting a container and a container form. In the present paper, the natural frequency of sloshing is estimated by Principal Component Analysis (PCA) using values of tilting angle and liquid volume for the container in real time. Then, sloshing suppression control can be designed by using the low-pass filter and the notch filter based on the estimated natural frequency. Then, proposed control system becomes Linear Time Varying (LTV) system. The effectiveness of proposed control system is shown through experiments of a container transfer system.

抄録全体を表示

Our research aim for the realization of damping and positioning control of liquid transportation. But, in the case of sensing liquid fluctuation by using sensor, this system depend a great deal on usage environment. And so our research proposed two approach to be come to realization this system. First ,we are proposed using two inertia actuator in carrier device side. Second, we are proposed mechanical approximation model by liquid side.

抄録全体を表示

In recent years, various boards such as glass substrate and semiconductor wafers have become larger. Therefore, fracture of substrates under conventional contact transportation is unavoidable. In order to solve these problems, a new non-contact transportation technology is proposed. The board is levitated by aerostatic force and held by the holding unit constructed by oscillating plate actuated by bolted Langevin transducer. In this paper, two oscillating plates are proposed. One is 7 times wider than conventional oscillating plate. The other, which is called comb type has 6 slits to define individual oscillation. The comb type has holding performance with spring constant of 17mN/mm. The dynamic spring constant, which was verified by undamped natural frequency for step response, was comparable to static spring constant.

抄録全体を表示

Blanket modules are installed on two keys that are part of the vacuum vessel (VV). Blanket maintenance requires the remote manipulation of the four-ton modules and final installation accuracy is within 0.5 mm between the module and the two key supports in the VV. The most critical issue is to avoid any jamming between the blanket module and the keys as a result of excessive loading during the module installation process, To solve this technical issue, this paper describes a verification test results of control method to avoid any jamming.

抄録全体を表示

If it points to "inserting a bolt" and work and a bolt (work subject) is clicked with a mouse on a camera picture or CG picture, the power distribution work robot which does a bolt insertion work will be developed. A Power Distribution Line Maintenance Robot is developed which The CG simulation and the insertion experiment of the bolt were done. I want to introduce the controller of this system and to propose the agent-ized robot controller architecture.

抄録全体を表示

In this paper, we describe our work on realizing the manipulation of nut and bolt for assembly work using dual arm manipulator and robot hand. Generally, force sensor is used for estimation of external force. However, the cost of this sensor is expensive and easily damaged by inappropriate contact with object. This has led us to use other sensors instead to estimate the external force. Then, the results are compared with measurement from force sensor to validate for correct estimation. With the application of impedance control for robot hand, our robot could be able to grasp nuts ranges from several sizes down to as small as radius 2 mm. Furthermore, we applied a method called following control to make finger maintains its contact with worktable while making the grasping task. Thus, this could improve grasping nut task at a higher success rate even with some errors from robot position and vision data.

抄録全体を表示

The purpose of the our research group study is to develop an autonomous dual-arm assemblry robot for assembly work which involve autonomous grasping of nuts and bolts. The objective of this work is on the design of a multifingered robot hand to grasp of nuts and bolts, we added a rotatable function to the finger layout for more flexibility to grasp both shapes of nut and bolt. And the control system of the hand based on LQI(Linear quadratic integral) control is designed to operate the hand. Finally, the experiment for grasping M8 sized bolt shows successful results.

抄録全体を表示

As for remote control, it is desirable for an operator to be able to use a robot like of its own body. Because it becomes an operator's burden if it cannot be operated easily. Therefore, it is required to be able to do operation easily. At this laboratory, the operation system for operating by remote control for a hexapod robot is developed. A robot can make it deform into four forms. The case where two legs are used like an arm is considered. There are four joints in a robot's leg. Therefore, it is easier for operation for a device to be same structure. Size also becomes important when making such a device. So, this paper studies a size required for the device production for operating a robot by remote control.

抄録全体を表示

An exclusive robot system is being used to control hot forging operations with a hanger for handling materials during a high speed forging process. Controlling manipulators involve the rotational control in continuous rotation and incremental angle rotation modes. The position of a manipulator requires integrated control with a press to achieve the inch per press stroke for compensating an increase in workpiece length due to the cross section area reduction in the workpiece. Various sensors, such as pulse encoder, limit sensor, and etc., are interfaced to a P.L.C while the output is interfaced with some machine control devices, such as relays, solenoids, and servo valves. Limit switches and proximity switches are monitored in an interlock circuit.

抄録全体を表示

A robotic wiring harness assembly system, basing on vision and force/torque sensors, is developed to realize successful mating of electric connectors for improving productivity. In this system, two cameras are firstly used to detect the position and the pose of a grasped connector in 3D, and then the corresponding bias is calculated roughly to guarantee the connector can be contacted with the other opposite part. After that, a force/torque sensor is used to detect and judge the contact styles to assist system in applying searching and inserting strategies correspondingly. The experiment results show the proposed system can detect and diagnose the position and pose errors occurring in the assembly process correctly, and realize error recovery automatically and mating successfully. It reveals that the error-tolerable capability of the proposed system is improved evidently caused by applying the combination of vision and force sensors.

抄録全体を表示

This paper presents the manipulation of nut and bolt for assembly work using dual arm manipulator. Data between eye-in-hand and eye-to-hand cameras are fused and handled together with force sensors and encoders to calculate the required robot dynamics of the seven link arms to manipulate object. The first experiment that has been used as the basic platform in preparing the dual arm robot for assembly task consists of autonomous picking and placing an M8 sized bolt and hexagonal nuts from several sizes to as small as radius 2 mm. Besides, based on the proposed vision processing, the robot hand could self adjust its wrist angle to avoid collision between the fingers and objects during the grasping task. Finally, vision is also applied to align both robot arms to prepare for autonomous screwing task of nut and bolt. Experiment results are laid out to show the robot performance for above operations.

抄録全体を表示

This paper presents a hybrid simulator of massive pay load transfer on orbit. The hybrid motion simulator is useful to simulate and analyze the motion of a floating object under collision and microgravity environment. The transfer of a massive pay load by a robotic system on orbit may have a risk of contingental collision. Therefore, it is required to investigate proper approach of handling the massive target in advance. This study developed the hybrid simulator to demonstrate the transfer of the massive payload on ground.

抄録全体を表示

Most of exploration rovers are crawler- or wheel-type, but they tend to slip on the soft road surfaces. Legged robots, on the other hand, can walk on steep slopes and on rough terrains without slip. This research is, therefore, aimed at realizing walk action of the 6-legged robot StMAR-III (Strand-Muscle-Actuator-based Robot-III) in Quasi-Low-Gravity environment. The Strand-Muscle Actuators drive joints by antagonist muscles with nonlinear elastic properties, and realize joint angle/stiffness control easily. Having simple mechanism, small size and light weight, the actuators can easily realize complex/flexible joint motions by parallel installation. It is expected that legged robots using the actuators adapt to rough terrains without exact feedback control. In this article the mechanism of the StMAR-M and preliminary experimental results are given.

抄録全体を表示

A method for accurate localization of a space rover on a surface of a small planetary body has been developed for guiding it to a destination point. The method uses round-trip propagation delay of radio waves, range, between a mother spacecraft and the rover. Numerical simulations proved that the developed method is able to estimate the position of the rover with reasonable accuracy assuming that the measurement noise is Gaussian. Laboratory experiments have been conducted via range measurement tool to validate the convergence of the proposed method of estimation, whose results are reported in this paper. These results proved that the estimation converges even the measurement data includes real noise existed in the range measurement tool, which supports the feasibility of the proposed method of estimation.

抄録全体を表示

This paper describes design and development of Micro6 of drive mechanism. Micro6 is a ground examination special-purpose machine of planetary exploration rover. In order to enable Micro6 to a ground run, calculating the torque of a drive part and the optimal design are carried out. The developed examination machine gets over a level difference, a running test of the irregular ground and a turning test. And the validity of this mechanism is shown.

抄録全体を表示

Development of a small and light robot that excavates by itself is required. Although developments of excavation robots have been performed, they filled a demand that did not exist. We focused on the peristaltic crawling of an earthworm as a locomotion mechanism and developed a small excavation robot. First, we proposed that the excavation robot consists of two parts: propulsion and excavation. We decided to use an earth auger for the excavation part. Then, the propulsion part moves by peristaltic crawling. The propulsion part must restrain the unit against the rotation reaction of the earth auger. Therefore, we focus on a dual-pantograph mechanism. We constructed a peristaltic crawling robot that has dual-pantograph mechanism. Good performance was observed in the experiments.

抄録全体を表示

This paper presents a position estimation method for planetary rovers based on panoramic skyline images. The estimation is conducted by a comparison between two skyline images. One is extracted by image processing of an omni-directional image that is obtained by an omni-directional camera. The other is obtained by a geometry-based calculation from a digital elevation map that was obtained by satellites. To confirm a validity of our method, we applied the method to omni-directional images that was obtained in a desert. In this paper, we introduce our method, report the result, and discuss its resolution and availability.

抄録全体を表示

In this paper, we propose a vertical symmetry rocker-bogie suspention designed robot without fall factor. In addition, we investigate the effect of the dynamic driving force distribution in this robot with the independently driven six wheels by a basic experiment. Therefore, the optimal control method of the driving wheel is shown the stair climbing capacity using this design.

抄録全体を表示

In surface explorations on the Moon and/or Mars, planetary rovers take a significant role. However, wheels of planetary rovers may get stuck in loose soil because of wheel slippage. In this study, a wheel width and diameter are considered as dominant factors of traversability and performance of a wheel mechanism on loose soil in different wheel parameters is evaluated for wheel to provide a high traversability with less slippage. In this paper, a performance evaluation method and hill climbing test using a developed two-wheeled rover are reported. Then, the influences of wheel width and diameter to rover's traversability areevaluated based on experimental results and theoretical model

抄録全体を表示

This research describes the proposal of a fluid powered ropeway aiming fast search for survivors in half-collapsed buildings. It consists of a gondola probe unit carrying sensors to search survivors, a flat tube for energy supply, and a dummy ball as an anchor. This device is operated as follows. 1) First, the dummy ball with the flat tube is thrown into the house by the operator. 2) Then the gondola probe unit goes and returns along the pressurized flat tube between the operator and the dummy ball, while sensors gather information on survivors. The new gondola probe with a new tube leading mechanism for smooth traverse on debris is also proposed. That makes one part of the tube play a role as a buffer area on both the front and the bottom to avoid the direct contact between the gondola probe unit and the ground.

抄録全体を表示

A rescue device concept for water accident at river is proposed. This device consists of a plate, a handle and a couple of ropes which connect the plate to the handle. The inclination angle of the plate in water can be controlled by the handle or the rope length difference which produces a thrust force rectangle direction to the rope. Therefore the handle can maneuver the plate position in river intentionally. A float can be delivered to people left in river by this device. Experiments have been achieved successfully. An electro-mechanical device with double winch system also has been manufactured and tested. Finally the plate of this device went across the river and arrived to the opposite bank.

抄録全体を表示

A sarin gas incident occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack caused sicknesses to many passengers. Since the disaster broke out under the ground, the main job of rescue personnel was to transport victims on stretchers to a first-aid station on the ground. So, we research and development the rescue support stretcher robot for a heavy casualty disaster in underground areas or at stations can be handled in a quick, effective manner. The stretcher robot is expected to help firefighters achieve efficient rescue operations. In this paper, we introduce the rescue support stretcher system for going up and down the stairs. And, we propose the technique of smaller and lighter system. Finally, we examined the effectiveness of the robot by the experiment.

抄録全体を表示

The rapid search for survivors is required at landslide disaster sites, which occur after earthquakes, heavy rain, and accidents. At the present moment, a pole is inserted into the landslide as search method. In this research, a novel inspector is developed and verified, which can willingly move through the dirt. This inspector aims to be able to generate the necessary propulsion force as well as to steer its direction by itself. The proposed propulsion method is inspired in the movement of a mole, which advances efficiently by pushing aside the dirt. The characteristics and the efficiency of the proposed method are verified through basic experiments. Then, the verification of the behavior through burrowing as well as the possibility of steering is verified through experiments. In addition, the burrowing inspector is equipped with sensors, and it is verified the efficiency of information gathering through the landslide.

抄録全体を表示

This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. We examined the drive system for the roll axis of the joint mechanism that achieved four configurations. Moreover, we developed test model and experimented basic performances.

抄録全体を表示

We had developed FRIGO-M as a track robotic unit to support the fire fighting and rescue. In order to use the robotic system for disaster response, the robot needs the heavy-duty performance; water, dust, and impact proof. There exists some explosive gas atmosphere on disaster. Therefore, disaster response robots need the explosion proof also. We have regulations on explosion proof, however it is difficult to apply the regulations for disaster response robots directly. Then, we investigated the explosion proof performance of the unit experimentally as a first step to develop a explosion proof robot for disaster response.

抄録全体を表示

Rovers which have wheeled locomotive system are used broadly in planetary missions, because wheeled locomotive system has low energy consumption and its configuration is simpler than other types of locomotive system, such as tracked locomotive system. However, the wheeled robots have low travarsability. In planetary missions, a rover which has high traversability is required. First, to traverse over more challenging terrain, the authors propose a new rover with active suspension which has high efficiency and high traversability. Second, the authors propose a method to control the active suspension system to improve traversability. Finally, through simulation, the authors show the effectiveness in the ability of climbing slopes and stability from tip over when traversing various rough terrain using active suspension.

抄録全体を表示

The space elevator technology is paid to attention as a substitute means of the rocket technology now. We develop the climber of this space elevator, and examine efficiency by the wheel arrangement positions and tightening force through trial manufacture of the experiment machine.

抄録全体を表示

The touch-down is one promising method to collect samples on the surface of the asteroid. However the condition of the surface of the asteroid is generally unknown. Therefore, it is necessary to comprehend the dynamic behavior of the spacecraft after the contact on the variable types of the asteroid surface to guarantee the safe touch-down sample collecting. This paper describes dynamic simulation of the spacecraft during the contact with the asteroid. The spacecraft consists of a main satellite and a flexible sample collection apparatus. The results of the numerical simulation illustrate the reactional behavior of the spacecraft due to the contact on the asteroid.

抄録全体を表示

One of the expected tasks by space robots is capturing a malfunctioning satellite. There are several works of capturing satellite, however, a few attempts has been carried out to capture an attitude-uncontrolled-satellite without the extra vehicle activity (EVA) by astronaut. This paper presents experiments of capturing a floating object under microgravity conditions by a teleoperated dual-arm space robot. Two teleoperation experiments are studied in this paper: (1) capturing a stationary floating object with time delay, (2) capturing a rotating object without time delay. The dual-arm space robot successfully captures the stationary and rotating objects with the use of the teleoperation system using mixed force and motion commands and the non-master/slave coordinated control of the dual-arm.

抄録全体を表示

This paper presents the Restitution Coefficient Control method by a free-flying space robot for capturing a floating target in space. One of the most difficult tasks by a space robot is to capture a floating object autonomously in space because too much momentum exchange might push the object away from the operational space of a space robot. In order to overcome this issue, the authors propose a new control method, named the Restitution Coefficient Control, for controlling the restitution coefficient between the manipulator hand of a space robot and a floating object. The restitution coefficient is defined through a simplified dynamics model, and the control input is derived from the inverse problem of the derivation of the restitution coefficient. The dynamics simulation verifies that the Restitution Coefficient Control is capable of realizing the restitution coefficient of zero.

抄録全体を表示

On the lunar surface, there are covered with soils which are named regolith. Regolith is easy to slide for locomotion systems. Therefore, it is difficult to traverse loose soil with slope. However, lunar rovers are required to traverse rough and slope terrain such as in craters and cliffs where it is scientifically important to explore. To solve these problems, we focus on an element of loose soil, "earth pressure". When the depth of soil increases, "earth pressure" increases. Therefore, we use this characteristic for developing new type robots to traverse loose soil smoothly. In addition, this paper describes about the structure of proposed robot.

抄録全体を表示

Planetary surface is covered by soft soil. Thus wheel slips and gets stuck easily. Wheel slippage causes wheel stuck, navigation error, and difficulty in climbing slopes. Purpose of this research is to develop wheel control system for efficient travelling on soft soil. The efficient travelling is that a rover is able to travel on high speed and small wheel slippage on soft soil. Considering strong control system for disturbance, it is important to incorporate terramechanics theory. In this paper, wheel dynamics model based on terramechanics is proposed, and the dynamics model is verified it is appropriate for dynamic motion by simulation analysis.

抄録全体を表示

We have been discussing a construction method of a wireless sensor network by utilizing a rescue robot. Then we propose the construction method for expanding an area where rescue robot is controlled by wireless communication. In order to realize expanding the area, the throughput between rescue robot and operator (End-End) has to be stabilized for continuation of wireless remote control. The stabilization of the throughput between End-End has needed to stabilize the throughput between sensor nodes constructing networks. Then we created the construct method of wireless sensor networks considering throughput between sensor nodes by utilizing rescue robot. The experiment confirmed that the stabilization of throughput between End - End and expandability of networks.

抄録全体を表示

To gather information on the other side of obstacles where a mobile robot cannot surmount, this paper describes development of a launcher for wireless sensor node launch deployment by a mobile robot at post-disaster environment. The authors have been developing an information-gathering system using mobile robots and WSNs (Wireless Sensor Networks) in post-disaster environments. In our system, when it encountered insurmountable obstacles (e.g. fallen furniture) while a mobile robot deploys WSN, a mobile robot launches a sensor node to gather information on the other side of obstacles. In order to realize proposed system, we designed and developed a wireless sensor node launcher. Experimental results show that a prototype system can launch a sensor node over obstacles and gather information on the other side of obstacles.

抄録全体を表示

For tracked vehicles with "sub-crawler" moving over rough terrain, it is important to measure the contact force between sub-crawler and environment. However, in case of using gear reducer to drive sub-crawler, it is too hard to estimate the contact force, we have to estimate friction torque come from gear reducer to estimate the contact force. In this paper, the authors propose a method of the contact force estimation on the basis of motor current and friction model.

抄録全体を表示

We develop a rescue robot that searches for the victim in the disaster scene. To go into a narrow space in such a scene, size of the robot should be small. In this paper, we show the crawler type robot which has expandable side crawler. This mechanism can enlarge mobility of the robot by expanding side crawler when it is necessary. Details of the developed robot and several experiments are denoted in this paper.

抄録全体を表示

In order to evaluate the mobility of rescue devices statistically, it is necessary to make the devices run in various types of rubble. However, there are few test rubble fields in the real world. Our research group has enabled to create a lot of piles of virtual rubble model by physical simulation and to get their quantitative characters by some methods. This study structures the devices' working space in a virtual rubble model as path network connecting Local Maximum Vacant Spheres. In addition, this study suggests an evaluation method with a mobile difficulty index and enables to evaluate the mobility of the devices in the virtual rubble model.

抄録全体を表示

This paper describes an information gathering system at the time of a disaster using a small unmanned aerial vehicle (UAV). Small UAVs are highly portable, have a low operational cost, and can be operated safely in comparison to manned airplanes. The object tracking system which can effectively gather the information is demand for small UAVs. This system is developed by installing the gimbals camera with two degree of freedom in the small UAV. The particle filter which uses color information on the aerial movie is developed to track the object in realtime processing. This system is evaluated by the ground experiments, and it is confirmed that the proposed system is effective in the object tracking for gathering disaster information.

抄録全体を表示

Unmanned Aerial Vehicles (UAVs) are expected as inspection and working tools for hazardous environments, devastated district, agriculture area, etc. Downsizing of UAVs is one of the research trend aiming at indoor environment observations. In this paper, we describe the developed UAV and cooperative work of UAV and ground support system, wheeled mobile robot.

抄録全体を表示

In this paper, we propose a rotary-wing UAV(Unmanned Aerial Vehicle) that is more compact and has better flight stability as compared with the conventional ones. It is well-known that Rotary-wing airplanes require the mechanism to compensate a counter-torque. Therefore, in a series of studies, we have been developing a new compensating mechanism for the counter-torque. The mechanism has stators underneath the main-rotor, and controls attitude by lift of the stators. In this study, we have conducted a basic performance test of stators under the condition that the variable pitch main-rotor is utilized.

抄録全体を表示

Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone. Since simple tail-sitter UAVs have any extra equipments for tail-sitting maneuver, attitude control is difficult problem. This paper discusses agile turnaround flight utilizing post-stall maneuver for tail-sitter VTOL UAVs. The minimum longitudinal travel distance turnaround strategy is formulated and optimization problem is solved. In order to achieve agile turnaround stably, a novel attitude control strategy for a tail-sitter VTOL UAV is implemented. The results show that the post-stall maneuver with proposed attitude controller achieved minimum travel distance turnaround stability, while conventional attitude controller fails.

抄録全体を表示