In this study, we propose a long-reach aerial manipulation system with a wire-suspended device that allows the airframe to maintain its position at the desired distance away from the target. We implemented a feedback communication between the multirotor and wire-suspended device to maintain the position of the wire-suspended device directly below the multirotor while maintaining a constant distance from the target. The multirotor communicates its velocity and relative position to the wire-suspended device to control the ducted fans, whereas the wire-suspended device transmits the attitude and distance from the ground to the multirotor to control the winch. The designed controller for the ducted fans allows the wire-suspended device to behave like a long rigid robotic arm. The performance of the designed controller was verified by navigating the multirotor over stepped surfaces while the wire-suspended device was being lowered.

UAVs are one of the fastest types of robots that can be deployed in a remote environment. Unfortunately, they have a limited flight time and therefore may need to stop occasionally in an unknown, uncontrolled area. However, conventional UAVs require flat and stationary surfaces for a safe landing and take-off. Some studies on adaptive landing approach for UAVs can be found in the past, but adaptive take-off from non-flat surfaces has not been discussed for the most part, yet. In this work, we discuss the problems associated with a conventional UAV take-off from non-flat surfaces and provide a novel approach for UAV take-off from a sloped or rocking surface. We also discuss the design of a novel multitasking three-arm aerial manipulator system with parallel link mechanism and achieve the above-mentioned task. With experiments, we show that the system can provide stability for a UAV landing on a rocking surface that allows for a safe take-off.

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