Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator

Table 2

Standard DH parameters of the manipulator.

Parameter	Value
Link	1	2
Link twist (deg)	90	0
Link length (mm)	50	103
Link offset (mm)	0	0
Joint angle (deg)	-60~10	-90~90