Abstract
Optical systems for unmanned aerial vehicle (UAV) detection and tracking are predominantly deployed on stationary platforms, which limits operational mobility and increases the vulnerability of fixed installations under adverse operating conditions. To address this limitation, this study proposes a novel 6+3-RRS+RR hybrid robotic system for UAV detection and tracking from a mobile ground vehicle. The system integrates a 3-RRS parallel manipulator that compensates for vertical displacement, roll, and pitch of the vehicle body with a two-axis pan–tilt mechanism that provides independent camera pointing. A unified kinematic model is developed using homogeneous transformation matrices. Analytical inverse-kinematic solutions are derived for the 3-RRS and pan–tilt mechanisms, whereas the forward kinematics of the parallel manipulator is solved numerically using the Newton–Raphson method. Jacobian matrices are formulated to establish velocity relationships and disturbance-compensation conditions. Serial and parallel singularities are analyzed using scaled Jacobian condition numbers. Numerical examples confirm the consistency of the forward and inverse kinematic solutions and determine generalized-coordinate ranges that avoid singular and near-singular configurations. The proposed architecture separates disturbance compensation from target pointing within a unified hybrid system and provides a kinematic foundation for future control-system development and dynamic disturbance compensation on mobile robotic platforms.