![]() ![]() Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. This text is a thorough treatment of the rapidly growing area of aerial manipulation. ![]()
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