The significance of adopted Lagrange's principle of virtual work used for modeling aerial robots

This paper presents a novel approach for kinematic and dynamic (kinetic) modeling of the selected aerial robot type, named CPR-A. The presented CPR-A system has three motors and two ropes connected together with a camera which can move in the 3D parallelepiped workspace. The CPR-A workspace is maximized for non-redundant construction. The unique kinematic model of the considered system represents the fundamental base for its dynamic model. This complex model accurately represents a real CPR-A system, which can be used for various tasks by implementing intelligent control systems. The validity of the results has been presented through five case studies using newly developed software package AIRCAMA. The purpose of this research is to implement the presented results and possibly advance the model for future endeavors, autonomy and intelligent behavior of aerial robots.