Mathematical modeling of stable position of manipulator mounted on unmanned aerial vehicle

Abstract

The stability of the manipulator is important issue especially in the domain of unmanned aerial vehicle (UAV). Any movements of manipulator greatly affects UAV stability. In particular, the horizontal shift of the center of gravity requires of the UAV the powerful controller, that change forced the propellers of quadrotor to bring the UAV to a stable state. In this paper, we have studied the movements of manipulator and its center of gravity at least horizontally when UAV is in hover mode. As a result, we developed mathematical model and software for calculation of deflection angles between successive links of the manipulator, which provides deviation of the center of mass (COM) of the UAV horizontally less than 1 mm.