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Studying the Disturbances of Robotic Arm Movement in Space Using the Compound-Pendulum Method

Ibrahim I.N., Al Akkad M.A.


The purpose of this paper is to study the disturbances that represent the existence of a robotic arm with a payload, which affects the overall dynamics model of an aircraft by adding moments and forces that represent noise. The aircraft used in this study is a multirotor UAV (Unmanned Aerial Vehicle) type. The disturbances affecting the aircraft’s center of gravity change with time because of the change in the robotic arm angles in all directions, making the motion equations variable with time. This paper offers a comprehensive study of determining the inertia moments of the aircraft using a simplified pendulum method, taking into consideration the effect of mass distribution and center of gravity changes, which are a result of the continuous movement of the manipulator during the aircraft motion in the air. The experimental tests were made using SolidWorks software and were evaluated using MATLAB in order to get a complete view of the disturbances. In future, a precise equation of motion will be defined, and the controllers will be developed in order to get a robust stability.


UAV; Center of Gravity; Inertial Moments; Compound-Pendulum Method; Parallel Axis Theory

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References References

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ISSN 1813-7903 (Print)
ISSN 2413-1172 (Online)