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dc.contributor.author
Wulkop, Paula
dc.contributor.supervisor
Verling, Sebastian
dc.contributor.supervisor
Gilitschenski, Igor
dc.date.accessioned
2018-01-12T07:53:56Z
dc.date.available
2017-12-28T21:25:39Z
dc.date.available
2018-01-12T07:53:56Z
dc.date.issued
2017-07
dc.identifier.uri
http://hdl.handle.net/20.500.11850/224837
dc.identifier.doi
10.3929/ethz-b-000224837
dc.description.abstract
The goal of this bachelor thesis is to enable a special unmanned aerial vehicle (UAV) to make a transition from flying in the air to driving on a wall. For this, the Voliro hexacopter has been used as platform. Thanks to its tiltable rotors it can produce forces and moments in all directions and therefore hover in any arbitrary orientation. It is able to drive on the wall by flying vertically while at the same time pressing itself against the wall. In comparison to the general control approach, a Decoupled Wall Controller, where every motor has a clear task assigned, has been successfully implemented and tested. With it, an improved precision at the price of a loss of e ciency could be achieved.
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Voliro
en_US
dc.subject
Omnidirectional
en_US
dc.subject
Wall
en_US
dc.subject
UAV
en_US
dc.subject
Hexacopter
en_US
dc.title
Development of a controller enabling a Tilting Rotor Hexacopter to move omnidirectionally on a wall
en_US
dc.type
Bachelor Thesis
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-01-12
ethz.size
42 p.
en_US
ethz.code.ddc
6 - Technology, medicine and applied sciences::620 - Engineering & allied operations
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.tag
ASL
en_US
ethz.date.deposited
2017-12-28T21:25:40Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-01-12T07:54:06Z
ethz.rosetta.lastUpdated
2018-11-06T06:34:21Z
ethz.rosetta.versionExported
true
ethz.COinS
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