# Controller Design and Implementation of a New Quadrotor Manipulation System

## TL;DR

This paper presents the design, modeling, and implementation of a novel quadrotor with a 2-DOF manipulator capable of tracking 6-DOF trajectories, maximizing payload and mission time through a unique topology.

## Contribution

It introduces a new quadrotor manipulation system with a minimal actuator design, along with an algorithm for approximate inverse kinematics solutions.

## Key findings

- System parameters identified through experimental procedures.
- Feasibility validated via numerical and experimental results.
- Proposed algorithm effectively approximates complex inverse kinematics.

## Abstract

The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/links and hence, maximize the payload and/or mission time. The proposed system is designed, modeled, and constructed. An identification process is carried out to find the system parameters. An experimental setup is proposed with a 6-DOF state measurement and estimation scheme. The system feasibility is validated via numerical and experimental results. The inverse kinematics require a solution of complicated algebraic-differential equations. Therefore, an algorithm is developed to get an approximate solution of these equations.