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Title
Japanese:ヘキサロータ型全駆動UAVのロータ傾斜・配置による運動特性変化の解析 
English:Maneuverability Analysis of a Fully-actuated Hexrotor UAV Considering Arrangement and Tilt Angles of Rotors 
Author
Japanese: 田所 祐一, 伊吹 竜也, 三平 満司.  
English: Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第59回自動制御連合講演会論文集 
English: 
Volume, Number, Page         pp. 278-283
Published date Nov. 10, 2016 
Publisher
Japanese:日本機会学会 
English: 
Conference name
Japanese:第59回自動制御連合講演会 
English: 
Conference site
Japanese:福岡県北九州市 
English: 
DOI https://doi.org/10.11511/jacc.59.0_278
Abstract This paper tackles maneuverability analysis of a fully-actuated hexrotor unmanned aerial vehicle considering arrangement and tilt angles of rotors. First, symmetric coplanar tilted rotor structure is introduced as a canonical structure of a hexrotor. Then, the dynamical model is presented and dynamic manipulability measure of the hexrotor is used to analyze its maneuverability. Finally, as an example application of the analysis, design optimization problems of hexrotor are considered and the usability of present analysis is shown.

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