This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.
Fumagalli, M., Naldi, R., Macchelli, A., Macchelli, A., Forte, F., Keemink, A. Q. L., ... Marconi, L. (2014). Developing an aerial manipulator prototype: physical interaction with the environment. IEEE robotics & automation magazine, 21(3), 41-50. https://doi.org/10.1109/MRA.2013.2287454