Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators
Jake Welde,Vijay Kumar,Jake Welde,Vijay Kumar
In this work, we derive a coordinate-free formulation of the coupled dynamics of a class of 6DOF aerial manipulators consisting of an underactuated quadrotor equipped with a 2DOF articulated manipulator, and demonstrate that the system is differentially flat with respect to the end effector pose. In particular, we require the center of mass of the entire system to be fixed in the end effector fram...
