Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment
Santos Miguel Orozco Soto,
Vincenzo Lippiello
Abstract:Delivering large horizontal controlled forces for long periods with aerial manipulators is not an easy task to accomplish; several factors including disturbances, reaction forces from the on-board arm or actuator’s limitations might diminish their horizontal force delivery capabilities. Aiming to mitigate these drawbacks, this paper presents a comprehensive study of the force delivery capabilities of aerial manipulators leveraging the environment. The methodology to evaluate the aforementioned capabilities is … Show more
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