Multi-directional aerial platforms can fly in almost any orientation and direction, often maneuvering in ways their underactuated counterparts cannot match. A subset of multi-directional platforms is fully-actuated multirotors, where all six degrees of freedom are independently controlled without redundancies. Fully-actuated multirotors possess much greater freedom of movement than conventional multirotor drones, allowing them to perform complex sensing and manipulation tasks. While there has been comprehensive research on multi-directional multirotor control systems, the spectrum of hardware designs remains fragmented. This letter sets out the hardware design architecture of a fully-actuated quadrotor and its associated control framework. Following the novel platform design, a prototype was built to validate the control scheme and characterize the flight performance. The resulting quadrotor was shown in operation to be capable of holding a stationary hover at 30 degrees incline, and track position commands by thrust vectoring [Video attachment: https://youtu.be/8HOQl_77CVg].
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页码:6845 / 6852
页数:8
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Park, Sangyul
Lee, Jeongseob
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Lee, Jeongseob
Ahn, Joonmo
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Ahn, Joonmo
Kim, Myungsin
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Kim, Myungsin
Her, Jongbeom
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Samsung Elect, Suwon 16677, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Her, Jongbeom
Yang, Gi-Hun
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Korea Inst Ind Technol, Robot Grp, Ansan 15588, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Yang, Gi-Hun
Lee, Dongjun
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
机构:
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Park, Sangyul
Lee, Jeongseob
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Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Lee, Jeongseob
Ahn, Joonmo
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机构:
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Ahn, Joonmo
Kim, Myungsin
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h-index: 0
机构:
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Kim, Myungsin
Her, Jongbeom
论文数: 0引用数: 0
h-index: 0
机构:
Samsung Elect, Suwon 16677, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Her, Jongbeom
Yang, Gi-Hun
论文数: 0引用数: 0
h-index: 0
机构:
Korea Inst Ind Technol, Robot Grp, Ansan 15588, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Yang, Gi-Hun
Lee, Dongjun
论文数: 0引用数: 0
h-index: 0
机构:
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea
Seoul Natl Univ, Inst Adv Machines & Design, Seoul 08826, South KoreaSeoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 08826, South Korea