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Title
Japanese:動的可操作性楕円体に着目したヘキサロータ型全駆動UAVの設計最適化 
English:Design Optimization of a Fully-Actuated Hexrotor UAV based on Dynamic Manipulability Ellipsoids 
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4回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 1277-1282
Published date Mar. 6, 2017 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第4回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:岡山県 
English: 
Abstract This paper presents a novel design optimization method for fully-actuated hexrotor unmanned aerial vehicles considering horizontal and vertical acceleration. First, dynamic manipulability ellipsoids (DME) are defined and used as a evaluation index of the horizontal and vertical acceleration of the vehicle. Then, symmetric-coplanar-tilted-rotor (SCTR) structure of hexrotors is introduced, and it is proved that the DME of SCTR structure can be expressed in a simple form. Based on the analysis, a design optimization method via the DME is proposed. Finally, numerical examples illustrate that the method can handle the horizontal and vertical acceleration separately.

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