In this paper, the conceptual design, modeling, and simulation are proposed for an octorotor UAV with a manipulator arm. The conceptual design of the octorotor UAV with a manipulator arm is developed, and for the study and analysis, the design is implemented and validated in Matlab (Simulink-SimMechanics) software. The kinematics and dynamics models of the octorotor UAV with a manipulator arm are obtained using the classical Denavit–Hartenberg convention and the recursive Newton–Euler method, respectively. In this sense, a cascade PID controller for the attitude and navigation of the UAV and a simple PID controller for the manipulator arm are proposed and simulated in a closed-loop system in order to highlight the performance of the proposed design. Finally, simulations show the feasibility and behavior of the mathematical model and the flight controller in a closed-loop system.


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    Titel :

    Modeling and Simulation of an Octorotor UAV with Manipulator Arm




    Erscheinungsdatum :

    2023




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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