Modeling, Test Benches and Identification of a Quadcopter
The mathematical modeling of the dynamics of a quadcopter using the Newton-Euler method is presented in this study. Kinematics and kinetics were developed using Euler's angles as parameters to describe the rotations of the rigid body, and all the referential changes referring to rotations were...
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| Published in: | 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) pp. 49 - 54 |
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| Main Authors: | , , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
IEEE
01-10-2016
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| Online Access: | Get full text |
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| Abstract | The mathematical modeling of the dynamics of a quadcopter using the Newton-Euler method is presented in this study. Kinematics and kinetics were developed using Euler's angles as parameters to describe the rotations of the rigid body, and all the referential changes referring to rotations were made using Coordinate Transformation Matrices. Two test benches are proposed. First a 3 degree of freedom test bench that frees the aircraft rotation while retaining the translation. The second is a one degree of freedom test bench which complements the first one. At last the test benches are used in order to identify the actuators parameters and the inertia moments. |
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| AbstractList | The mathematical modeling of the dynamics of a quadcopter using the Newton-Euler method is presented in this study. Kinematics and kinetics were developed using Euler's angles as parameters to describe the rotations of the rigid body, and all the referential changes referring to rotations were made using Coordinate Transformation Matrices. Two test benches are proposed. First a 3 degree of freedom test bench that frees the aircraft rotation while retaining the translation. The second is a one degree of freedom test bench which complements the first one. At last the test benches are used in order to identify the actuators parameters and the inertia moments. |
| Author | Bessa, Wallace M. Dorea, Carlos E.T. Farias, Joao Lucas C.B. Farias Filho, Joao Gutemberg B. |
| Author_xml | – sequence: 1 givenname: Joao Gutemberg B. surname: Farias Filho fullname: Farias Filho, Joao Gutemberg B. organization: Dept. of Comput. Eng. & Autom., Fed. Univ. of Rio Grande do Norte, Natal, Brazil – sequence: 2 givenname: Carlos E.T. surname: Dorea fullname: Dorea, Carlos E.T. organization: Dept. of Comput. Eng. & Autom., Fed. Univ. of Rio Grande do Norte, Natal, Brazil – sequence: 3 givenname: Wallace M. surname: Bessa fullname: Bessa, Wallace M. organization: Dept. of Mech. Eng., Fed. Univ. of Rio Grande do Norte, Natal, Brazil – sequence: 4 givenname: Joao Lucas C.B. surname: Farias fullname: Farias, Joao Lucas C.B. organization: Dept. of Mech. Eng., Fed. Univ. of Rio Grande do Norte, Natal, Brazil |
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| PublicationTitle | 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) |
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| Snippet | The mathematical modeling of the dynamics of a quadcopter using the Newton-Euler method is presented in this study. Kinematics and kinetics were developed... |
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| StartPage | 49 |
| SubjectTerms | Acceleration Force Kinematics Mathematical model Propellers Solid modeling Tensile stress |
| Title | Modeling, Test Benches and Identification of a Quadcopter |
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