Synthesis and Control of a 3 Degrees of Freedom Inherently Dynamically Balanced Manipulator for an Unmanned Aerial Vehicle

In aerial manipulation, Unmanned Aerial Vehicles (UAVs) are equipped with manipulators to perform a variety of tasks such as inspections of critical infrastructure at heights. A fundamental issue is that the shaking forces and moments of the manipulator cause the UAV to tip-over and become unstable. Control based methods have been applied in...