Feasibility of filtering a low frequency vibration?

I am currently developing a quadcopter which carries a gripper and tool at the end of a long (100 cm) rod. The weight of the gripper and tool is counterbalanced by the weight of the batteries, which are mounted on a second rod in the opposite orientation of the first, such that the center of mass of the system remains within the “center” of the drone.

The issue which I have encountered is that the effectively cantilevered arms supporting the gripper and the batteries have a very low natural frequency of approximately 5 hz. Because the combined weight of the arms, gripper, and batteries accounts for approximately half of the weight of the drone, the vibrations produced by these components effectively render the drone incapable of flight.

I am aware that the ideal solutions to this problem would be to make the arms stiffer, to reduce the masses of the components on the ends of the arms, or to reduce the lengths of the arms, thus tackling the vibration at its source. However, all of these solutions would result in other mechanical problems. Therefore, I would like to receive feedback on the feasibility of a software solution to this problem.

First: Would it be possible to filter out or to address this issue using the existing filters or tools provided by px4? I am expecting this answer to be no, as I would suspect that filtering out such low frequency oscillations would result in significant degradation of the performance of the state estimator…

Second: How feasible would it be to develop an additional module or to modify the px4 state estimation or control scheme in some way such that the vibrations induced by the arms could be filtered or compensated for?

If anyone knows of any other papers or posts related to this subject, I would also appreciate it if you could share them! Thanks.