  This paper presents the inverse kinematic analysis and parameters
identification of a novel aerial manipulation system. This system consists of
2-link manipulator attached to the bottom of a quadrotor. This new system
presents a solution for the limitations found in the current quadrotor
manipulation system. By deriving the inverse kinematics, one can design the
controller such that the desired end effector position and orientation can be
tracked. To study the feasibility of the proposed system, a quadrotor with high
enough payload to add the 2-link manipulator is designed and constructed.
Experimental setup of the system is introduced with an experiment to estimate
the rotors parameters. Its parameters are identified to be used in the
simulation and controller design of the proposed system. System dynamics are
derived briefly based on Newton Euler Method. The controller of the proposed
system is designed based on Robust Internal-loop Compensator (RIC) and compared
to Fuzzy Model Reference Learning Control (FMRLC) technique which was
previously designed and tested for the proposed system. These controllers are
tested for provide system stability and trajectory tracking under the effect of
picking as well as placing a payload and under the effect of changing the
operating region. Simulation framework is implemented in MATLAB/SIMULINK
environment. The simulation results indicate the effectiveness of the inverse
kinematic analysis and the proposed control technique.
