실내 위치 비행 테스트를 위한 다중 링크 기반 테스트 벤치

초록

Designing and validating quadcopter controllers requires an appropriate test bench that systematically evaluates each controller under controlled conditions. Existing test benches primarily focus on assessing attitude and angular rate controllers, whereas evaluating position and velocity controllers generally relies on external position sensors, which limit portability and add experimental complexity. To address this limitation, this paper proposes a multi-link-based test bench specifically designed for indoor position-control experiments. The test bench, composed of multiple links connected by spherical joints to allow six degrees of freedom, is implemented as a serial chain of rigid links to minimize constraints on the quadcopter’s motion. Each link is equipped with an IMU sensor, enabling position estimation through forward kinematics without the need for external tracking systems. Experiments with a two-link-based prototype demonstrate that the proposed test bench can effectively evaluate quadcopter position control performance in indoor environments, offering a practical alternative to conventional setups.

키워드