Dynamic modelling and control of flying parallel robots

This paper deals with the full dynamic modelling and control of a flying architecture called parallel robot (FPR). architecture, which can be seen as whose actuators have been replaced by drones, offers novel possibilities for robotic aerial manipulation. Over last decade, many prototypes developed in field manipulation, like attaching gripper or manipulator to drone. Nevertheless, proposed approaches suffer from several drawbacks such limitation payload, autonomy constraints also manipulability impacted quadrotor underactuation, if standard underactuated quadrotors are used. To overcome these limitations, FPR concept has advantages: all possible DoF end-effector controlled; sharing efforts over using no additional embedded motors, payload capability is enhanced. In this paper, generic model established, whatever legs topologies number drones It shows that decoupling property then exploited design cascade controller handling underactuation FPR. The approach strategy applied order perform real experiments proof-of-concept prototype belonging category robots made three legs.