en تخصصي Special كاربردي Applicable <strong>Abstract </strong>Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present&nbsp; the Dynamics and Kinematics model of&nbsp; quadcopter&nbsp; and the effect of forces by introducing two frames on the ground and it&rsquo;s body, also we design and implement the PID controller then found the best way of manual tuning for adjusting the PID&nbsp; coefficient&nbsp; in&nbsp; Symmetric quadcopter , we use the 10 DOF IMU consist of&nbsp; three axis gyroscope ,accelerometer and magnetometer with three PID&nbsp; controller for Roll, Pitch, Yaw angle and the separate PID&nbsp; controller for altitude of quadcopter Robot, also build it based on extracted result.&nbsp; Quad copter, PID controller, Dynamics model, Unmanned Aerial Vehicle 77 85 http://ijorlu.lahijan.iau.ir/browse.php?a_code=A-10-403-1&slc_lang=en&sid=1 M. Etemadi Ea.educate@liau.ac.ir 1003194753284600861 1003194753284600861 Yes M.Eatemadi, Department of Electrical Engineering, Lashtenesha-Zibakenar Branch, Islamic Azad University, Lashtenesha, Iran