[Retracted] An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation

Table 2

D-H parameters of the manipulator.

Link	a (m)	α (deg)	d (m)	θ range (deg)
1	0	90	0.08	180 [−90, 90]
2	0.15	0	0	150 [0, 150]
3	0.16	0	0	150 [−150, 0]