Rotor-Flying Manipulator: Modeling, Analysis, and Control

Table 1

Parameters of RF-MJM system.

Parameter	Describe	Unit
𝑚0 = 9.5	The mass of rotor-flying robot (RFR)	kg
𝑚1 = 2.5	The mass of manipulator	kg
𝐼0𝑥𝑥 = 0.1634	Moment of inertia of RFR	kgm^2
𝐼0𝑦𝑦 = 0.5782	Moment of inertia of RFR	kgm^2
𝐼0𝑧𝑧 = 0.6306	Moment of inertia of RFR	kgm^2
𝐼1𝑥𝑥 = 0.1399	Moment of inertia of manipulator	kgm^2
𝐼1𝑦𝑦 = 0.1399	Moment of inertia of manipulator	kgm^2
𝐼1𝑧𝑧 = 0.00112	Moment of inertia of manipulator	kgm^2
𝑙0 = 0.3	The length from the centroid of RFR	m
𝑙1 = 0.4	The length of half of the first link	m
𝜙 = 0.0769	Roll angle	rad
𝜃 = 0.0211	Pitch angle	rad
𝜓 = any value	Yaw angle	rad
𝜃1 = 0.0211	Joint movement angle	rad
𝐹0=000^𝑇	External force	N
𝑇0=000^𝑇	External torque	Nm