Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles

Autor:	Perin, Marco, Bertoni, Massimiliano, Viezzer, Nicolas, Michieletto, Giulia, Cenedese, Angelo
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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. Comment: accepted for presentation at the 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE2024)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2408.12294 Zobrazit plný text záznamu View this record from Arxiv