Analysis of a Quadrotor with a Two-Degree-of-Freedom Robotic Arm

摘要

The classical kinematic approach used in analyzing systems of a small number of interconnected bodies is unsuitable for researching complex kinematics. Moreover, solving nonlinear algebraic equations that involve trigonometric functions is difficult. However, the computational kinematic approach involves using a set of algebraic kinematic equations that describe the joint connectivity between the bodies of a system as well as the specified motion trajectories. This paper presents an analytical approach for a quadrotor with a two-degree-of-freedom (DOF) robotic arm. The approach, which is based on the computational kinematic approach, was adopted to model algebraic equations to obtain the values of position, velocity, acceleration, and the trajectories of motion of the joint and end effector. MATLAB was employed to simulate and solve the kinematic equations. The results showed that the analysis approach is feasible for the quadrotor with a two-DOF robotic arm.