Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles
Fuente:
arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866911999500222464 |
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| author | Perin, Marco Bertoni, Massimiliano Viezzer, Nicolas Michieletto, Giulia Cenedese, Angelo |
| author_facet | Perin, Marco Bertoni, Massimiliano Viezzer, Nicolas Michieletto, Giulia Cenedese, Angelo |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_12294 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles Perin, Marco Bertoni, Massimiliano Viezzer, Nicolas Michieletto, Giulia Cenedese, Angelo Systems and Control Robotics 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. |
| title | Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2408.12294 |