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Mechanism and Control of Four Rotor Flying Robot
Shohei Noda,Shozi Machida,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents the control and the mechanism of a flying robot with on-board sensors. This flying robot consists of four rotors, four landing legs, and a body. Also, ultrasonic sensors are installed in the body to measure flight height, while an acceleration sensor, a gyro sensor, and a geomagnetic sensor are attached to the body to measure rotation angles and angular velocities. A GPS sensor is used to detect the present position of the robot. To control the flying robot, a PID controller and PWM signals are used. Through flight experiments, the effectiveness of the mechanism and the control system is verified.