Conceptual and Algorithmic Models of Air Manipulation System

The chapter describes the conceptual model and the general structure of the aerial manipulator system, new tasks for manipulator control related to the instability of its base and interaction with ground-based objects. The analysis of the destabilizing factors affecting the deviation of the movement of the end working mechanism from the specified trajectory is carried out. The main task of this study is formulated and related to the design of the control system of the manipulator mounted on the UAV and maintaining the center of mass on the vertical axis when interacting with ground-based objects. Then we describe a number of developed algorithms that implement the task of motion control and stabilization of the air manipulation system. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.