UAV equipped with a robotic manipulator

The aim of this article is design and control system developing of multirotational UAV equipped with a robotic manipulator. As a combined model of the robot a quadrocopter and a two-link manipulator were chosen. The mathematical model of this robot, its dynamic equations and problem of trajectory tracking are described in this paper. Mutual reactive influence of the robotic manipulator and the UAV is considered. The main result of this paper is development of the control system of this robot based on feedback linearization, PD-controller and compensation of the robotic manipulator disturbing effects.