星型傾斜ヘキサロータの機動性：傾斜カント角の役割の解析
Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles
星型傾斜ヘキサロータにおいて、傾斜カント角が力の部分空間に与える影響を厳密に解析し、ホバリング条件を満たすための新しい性能指標を提案した。
著者: Marco Perin, Massimiliano Bertoni, Nicolas Viezzer, Giulia Michieletto, Angelo Cenedese
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we present a rigorous analysis of how the force subspace varies with the tilt cant angles, namely the tilt angles along the vehicle arms, taking into account gravity compensation and torque decoupling to abide by the hovering condition. Novel metrics are introduced to assess the performance of existing tilted platforms, as well as to provide some guidelines for the selection of the tilt cant angle in the design phase.
