Journal of Control Science and Engineering / 2010 / Article / Tab 2

Research Article

Modeling and Control of a Dragonfly-Like Robot

Table 2

Kinematic Transformation for each link of the dragonfly.

LinkKinematic transformation

Body 𝑇 0 4 = 𝑇 0 1 β‹… 𝑇 1 2 β‹… 𝑇 2 3 β‹… 𝑇 3 4
Tail 𝑇 0 6 = 𝑇 0 4 β‹… 𝑇 4 5 β‹… 𝑇 5 6
Left wing no. 1 𝑇 0 1 0 = 𝑇 0 4 β‹… 𝑇 4 7 β‹… 𝑇 7 9 β‹… 𝑇 9 1 0
Right wing no. 1 𝑇 0 1 1 = 𝑇 0 4 β‹… 𝑇 4 8 β‹… 𝑇 8 9 β‹… 𝑇 9 1 1
Left wing no. 2 𝑇 0 1 5 = 𝑇 0 4 β‹… 𝑇 4 1 2 β‹… 𝑇 1 2 1 4 β‹… 𝑇 1 4 1 5
Right wing no. 2 𝑇 0 1 6 = 𝑇 0 4 β‹… 𝑇 4 1 3 β‹… 𝑇 1 3 1 4 β‹… 𝑇 1 4 1 6