Aerial manipulation using a quadrotor with a two DOF robotic arm

  title={Aerial manipulation using a quadrotor with a two DOF robotic arm},
  author={Suseong Kim and Seungwon Choi and Hyoun Jin Kim},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents aerial manipulation using a quadrotor with a two-DOF robot arm. By considering a quadrotor and robot arm as a combined system, the kinematic and dynamic models are developed, and an adaptive sliding mode controller is designed. With the controller, an autonomous flight experiment is conducted including picking up and delivering an object, which requires accurate control of a quadrotor and robot arm. Overall result shows that the proposed approach demonstrates satisfactory… CONTINUE READING
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