Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment

Aerial manipulators may replace industrial for specific tasks involving large workspaces and high dynamics. However, these robots suffer from a lack of accuracy, autonomy, payload capability complex regulatory environment. To overcome some limitations, we introduce novel aerial manipulator suspended by spring to robotic carrier. A computed torque controller with exteroceptive feedback is used control the robot, using singular perturbation theory prove stability. We carried out various experiments assess workspace, accuracy dynamics manipulator.