Modeling and Control of PADUAV: a Passively Articulated Dual UAVs Platform for Aerial Manipulation*
Jiali Sun,Kaidi Wang,Chuanbeibei Shi,Xiujia Li,Xiaojian Yi,Yushu Yu,Fuchun Sun,Yiqun Dong,Jiali Sun,Kaidi Wang,Chuanbeibei Shi,Xiujia Li,Xiaojian Yi,Yushu Yu,Fuchun Sun,Yiqun Dong
In this paper, we introduce PADUAV, a novel 5-DOF aerial platform designed to overcome the limitations of traditional tiltrotor vehicles. PADUAV features a unique mechanical design that incorporates two off-the-shelf quadrotors passively articulated to a rigid frame. This innovation enables free pitch rotation without mechanical constraints like cable winding, significantly enhancing its capabilit...
