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Fig 1 - Nullspace-Based Control Allocation of Overactuated UAV Platforms

Fig. 1: 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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