Abstract
The complexity of autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform complex tasks. This complexity makes the control system to have to take into account somehow the RM dynamics, otherwise the overall behaviour of the system could be compromised. In this work, we thoroughly analyse the overall performance of the AM with a widespread controller designed neglecting the RM dynamics. In particular, the performances under the induced forces/torques provided by a compound interaction of movements of the RM (vibrations) and aerodynamical effects. For the case of study, we consider an UAV multicopter and a generic redundant RM. A complete analysis with realistic simulations on a benchmark is reported.
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