Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm
Zizhen Ouyang Ruidong Mei Zisen Liu Mingxin Wei Zida Zhou Hui Cheng Zizhen Ouyang Ruidong Mei Zisen Liu Mingxin Wei Zida Zhou Hui Cheng
Control of an aerial manipulator is challenging due to the decentralized dynamics of the aerial vehicle and the robotic arm. It is generally complex to adjust the controller of the aerial manipulator when replacing a different robotic arm. This paper presents a flexible control scheme for a quadrotor-based aerial manipulator equipped with a replaceable robotic arm. To analyze the dynamic character...