Rotor-Flying Manipulator: Modeling, Analysis, and Control

Table 2

Trim points corresponding to different masses of manipulator.

Trim point	𝑚1 = 2.5 kg	𝑚1 = 2 kg	𝑚1 = 1.5 kg	𝑚1 = 1 kg	𝑚1 = 0.5 kg
𝜙	0.0769	0.0732	0.0697	0.0662	0.0626
𝜃	0.0211	0.0204	0.0197	0.0190	0.0183
𝜃1	0.0211	0.0205	0.0198	0.0191	0.0183
𝜃𝑀	0.0436	0.0409	0.0381	0.0354	0.0326
𝜃𝑇	−0.1282	−0.1245	−0.1207	−0.1169	−0.1130
𝑎1𝑠	0.0211	0.0204	0.0197	0.0190	0.0183
𝑏1𝑠	0.0195	0.0169	0.0145	0.0123	0.0103