Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1 Degrees-of-Freedom (DoF) vectorable propeller is employed in this work to overcome singular forms by properly changing the thrust direction. In this paper, we first extend modeling and control methods from our previous works for an under-actuated model whose thrust forces are not unidirectional. We then propose a planning method for the vectoring angles to solve the singularity by maximizing the controllability under arbitrary robot forms. Finally, we demonstrate the feasibility of the proposed methods by experiments where a quad-type model is used to perform trajectory tracking under challenging forms, such as a line-shape form, and the deformation passing these challenging forms.
翻译：两维多链接结构可因其变形能力而有利于空中机器人的操纵和操纵。 但是,在变形期间必须避免某些类型的单一形式。 因此,在这项工作中使用了另外1度自由可传动螺旋桨,以通过正确改变推力方向来克服单一形式。 在本文中,我们首先扩展了我们以前为一种不具有单向推力的低活性模型而设计的模型的模型和控制方法。 我们随后为矢量角度提出了一种规划方法,以便通过在任意的机器人形式下最大限度地实现可控性来解决单一性。 最后,我们展示了拟议方法的可行性,即使用四型型模型进行具有挑战性的轨迹跟踪,如线形形状和通过这些具有挑战性的形式的变形。
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