Design and Analysis of Hybrid Fixed-Wing Type Flying Robot

Table 1

Table shows the coordinate system and its representation used for building kinematic model for fixed-wing type flying robot.

Coordinate system	Representation
Base system	, ,,
System representing body inertia	, ,,
Mainframe coordinate system; It represents the main frame of flying robots coordinates in , , and directions	, ,Yf,
Steady-state coordinate system; It represents the aerial vehicle coordinates in direction of motion	, ,,
The coordinate system used in the air during motion	, ,,