Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator

To address the challenge of precise, dynamic and versatile aerial manipulation, we present an manipulation platform consisting a parallel 3-DOF manipulator mounted to omnidirectional tilt-rotor vehicle. The general modeling on floating base is presented, which motivates optimization detailed design parameters components. Inverse kinematic control coupled pose controller with compensation term, going beyond common decoupled approaches. This presents baseline for redundant manipulators. Experimental flights show advantages active vs. fixed arm disturbance rejection end effector tracking performance, as well practical limitations term fast trajectories. results motivate future studies precise manipulation.