Parameter estimation of COG Jacobian for drone with arm capable of adjusting its COG position

Abstract

To realize aerial manipulation using a drone, it is required to control the position of the center of gravity. In order to fly safely, it is necessary to obtain the parameters used for the control before takeoff. However, it is not easy to determine the parameters in advance due to changes in parts or batteries or changes in the objects to be transported. Therefore, in this research, we propose a method to estimate these parameters before flight and show its effectiveness by experiment.