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Survey on Aerial Manipulator: System, Modeling, and Control

Published online by Cambridge University Press:  31 October 2019

Xiangdong Meng Open the ORCID record for Xiangdong Meng [Opens in a new window] ,
Yuqing He  and
Jianda Han
Xiangdong Meng*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China University of Chinese Academy of Sciences, Beijing 100049, China
Yuqing He
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China. E-mail: heyuqing@sia.cn
Jianda Han
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China Nankai University, Tianjin 300071, China. E-mail: jdhan@sia.cn
*
*Corresponding author. E-mail: xdmeng09@gmail.com
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Summary

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The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

Keywords

Aerial manipulatorManipulationUAVGripper
Type
Articles
Information
Robotica , Volume 38 , Issue 7 , July 2020 , pp. 1288 - 1317
Copyright
© Cambridge University Press 2019

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