A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Table 1

Physical parameters.

Parameters	Value	Unit
AMFCE’s mass,	19.12
Rotor arm length, d	1.37
Distance from front rotor to COM,	1.54
Inertia tensor in the x-axis,	0.79
Inertia tensor in the y-axis,	5.79
Inertia tensor in the z-axis,	5.47
Motor time constant,	0.064
Scale factor,	0.72	—
Lift coefficient,
Antitorque coefficient,