755 Horizontal attitude control of Parallel Link mechanism with Six Degrees of Freedom

2006 ◽  
Vol 2006 (0) ◽  
pp. 191-192
Author(s):  
Katsumasa SUZUKI ◽  
Takahiro OOE ◽  
Kengo TSUTIYA ◽  
Yuuji SINOHARA
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Link Mechanism ◽  
Parallel Link

scholarly journals DYNAMIC CHARACTERISTICS OF PARALLEL LINK MECHANISM WITH SIX DEGREES OF FREEDOM USING ELECTRO-HYDRAULIC SERVO CYLINDERS

2008 ◽  
Vol 2008 (7-3) ◽  
pp. 597-602
Author(s):  
Yuuki MIYAMOTO ◽  
Masataka KUSAKABE ◽  
Katsuya ABE ◽  
Kengo TSUCHIYA ◽  
Katsumasa SUZUKI ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Link Mechanism ◽  
Hydraulic Servo ◽  
Parallel Link

Design and Experimental Results of a Quad-Rotor Control System

2013 ◽  
Vol 284-287 ◽  
pp. 1799-1805
Author(s):  
Tae Sam Kang ◽  
Gi Gun Lee ◽  
Jung Hwan Kim
Keyword(s):  
Nonlinear Dynamics ◽  
Control System ◽  
Linear Model ◽  
Attitude Control ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Aerial Vehicle ◽  
Attitude Controller ◽  
Rotor Control

Multi-rotor is one of the emerging Unmanned Aerial Vehicle platforms. This paper covers the design, fabrication, modeling and testing of a quad-rotor control system. To take into account the salient nonlinearities, a model with six degrees of freedom nonlinear dynamics and some linear approximation of the aerodynamic part are used when extracting a linear model and designing a attitude controller. We obtained a linear model from experimental data using system identification method and developed attitude control algorithm. The control algorithm was realized using an on a board microprocessor and verified through experiment in real environment.

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