# Development of SAM: cable-Suspended Aerial Manipulator

## TL;DR

This paper introduces SAM, a cable-suspended aerial manipulator that enhances safety and obstacle avoidance by suspending the manipulator on a cable from the carrier, with control strategies and initial experimental validation.

## Contribution

It proposes a novel cable-suspended design for aerial manipulators, improving safety and obstacle clearance, along with control methods and experimental results.

## Key findings

- SAM demonstrates effective self-stabilization.
- The system achieves increased safety in complex environments.
- Initial experiments validate the concept and control strategy.

## Abstract

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.