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Prototype and coordination system of the overactuated UAV platform. Each of the four traditional quadcopters is mounted on a two-DOF passive gimbal with equal distance to the center of main frame to generate three-dimensional thrust force.

Prototype and coordination system of the overactuated UAV platform. Each of the four traditional quadcopters is mounted on a two-DOF passive gimbal with equal distance to the center of main frame to generate three-dimensional thrust force.

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Preprint
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Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...

Contexts in source publication

Context 1
... this paper, we will implement all three frameworks on our overactuated multirotor UAV platform to comprehensively evaluate their robustness in simulation and verify their performance in experiment. This platform (Fig. 1) has a similar highlevel dynamics compared to the twist-and-tilt rotor quadcopter platforms presented in [11] and [12]. We compare the performance of the three frameworks under kinematic-singularity in tracking a vertical rotation ...
Context 2
... overactuated UAV platform to evaluate three allocation frameworks ( Fig. 1) consists of four traditional mini quadcopters attached to the central frame via passive gimbal joints with two DoF that are perpendicular to each other, and the joint angles are independently controlled by torques of each quadcopter [13]. The passive joints have unlimited ranges of angulation, so the thrust vector generated by the ...
Context 3
... have unlimited ranges of angulation, so the thrust vector generated by the quadcopter can be pointed at any direction. Under the control framework, each quadcopter provides thrust force with variable magnitude and direction defined by the two-DoF gimbal, resulting in a system with 12 DoF in total. The corresponding coordinate frames are shown in Fig. ...

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