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Mechanism and Control of Coaxial Double Contra-Rotation Flying Robot
Hun-ok Lim,Shoji Machida 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents the control and mechanism of a flying robot that uses a coaxial double contra-rotation rotor. The flying robot consists of two rotors, landing legs, and a body. There are three motors: two motors are employed to control two rotors, and the other motor is used to control the center of gravity. In addition, an ultrasonic range sensor is installed under the body to measure flight height, and a gyro sensor is attached at the body to measure the direction of the rotation of the body. The rotational speed of the rotors is controlled by a PWM controller with programmable duty cycle. Through hovering flight experiments, the effectiveness of the mechanism and the control system of the flying robot is verified.
Hun-ok Lim,Yoshiyuki Ohta,Shoji Machida 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a mechanism and a control method of a personal motor vehicle -1 refined (PMV-1R) that can be used as a passenger and luggage conveyance. The PMV-1R consists of two wheels, an EC servo-motor, a differential gear and a base. Its total weight is 13 [kg], and the height of its base is 0.2 [m]. Its maximum payload is 100[kg]. A gyro sensor is installed to detect the inclination angle of the base in the pitch direction. A simple motion control is employed for the PMV-1R, which is based on the inclination angle. Several passenger and luggage conveyance experiments are conducted on a flat and rough terrain, and the effectiveness of its mechanism and control method is confirmed.