Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control
Arda Yiğit Miguel Arpa Perozo Loïc Cuvillon Sylvain Durand Jacques Gangloff Arda Yiğit Miguel Arpa Perozo Loïc Cuvillon Sylvain Durand Jacques Gangloff
Aerial manipulation increases significantly the workspace size of robotic manipulators. However, aerial manipulation suffers from a lack of autonomy due to limited embedded energy. The Aerial Manipulator with Elastic Suspension (AMES) is designed to cope with this issue. It is an omnidirectional aerial vehicle equipped with a gripper and suspended under a robotic carrier by a spring for gravity co...