Implicaciones computacionales de los aeromanipuladores

This document presents the computational needs implicit in the design and operation of aerial-robot manipulators, for this purpose, different considerations are identified and verified in the current and very recent state of the art. It is started with the computation required for the individual UAS units, and continue with the full-structure operation which is divided into 4 cyclic modes of operation: flight towards the work area and transformation to manipulator; aircraft take off; control in manipulator mode and finally landing. Along the text, there is an example of application, a flying robot arm in development by the authors.