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タイトル
和文:動的可操作度と最大並進加速度を考慮したヘキサロータの構造最適化 
英文:Structural Optimization of Hexrotors Considering Dynamic Manipulability and the Maximum Translational Accelaration 
著者
和文: 木曽 勝之, 伊吹 竜也, 三平 満司.  
英文: Katsuyuki Kiso, Tatsuya Ibuki, MITSUJI SAMPEI.  
言語 Japanese 
掲載誌/書名
和文:第2回制御部門マルチシンポジウム予稿集 
英文: 
巻, 号, ページ         733-5
出版年月 2015年3月4日 
出版者
和文:計測自動制御学会 
英文: 
会議名称
和文:第2回制御部門マルチシンポジウム 
英文: 
開催地
和文:東京都足立区 
英文: 
アブストラクト Hexrotor UAVs have six rotor propellers and can control their own position and orientation, individually. This paper proposes a method to optimize the hexrotor structure. The optimization is evaluated by dynamic manipulability and the maximum translational acceleration. The class of structure optimized in this paper is defined so that dynamic manipulability in six-dimensional space can be expressed by the product between translational 3-dimentional space and rotational space. Here, this class includes wide varieties of hexrotors. The resulting structure is given by the optimization via a nonlinear programming algorithm. Also, The relation between the number of optima and their structures are studied.

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