Modeling and Control of a Dragonfly-Like Robot

Table 2

Kinematic Transformation for each link of the dragonfly.

Link	Kinematic transformation
Body	𝑇^04=𝑇^01⋅𝑇^12⋅𝑇^23⋅𝑇^34
Tail	𝑇^06=𝑇^04⋅𝑇^45⋅𝑇^56
Left wing no. 1	𝑇^010=𝑇^04⋅𝑇^47⋅𝑇^79⋅𝑇^910
Right wing no. 1	𝑇^011=𝑇^04⋅𝑇^48⋅𝑇^89⋅𝑇^911
Left wing no. 2	𝑇^015=𝑇^04⋅𝑇^412⋅𝑇^1214⋅𝑇^1415
Right wing no. 2	𝑇^016=𝑇^04⋅𝑇^413⋅𝑇^1314⋅𝑇^1416