Lightweight Dynamics Model Based Whole Body Motion Control for Aerial Manipulator

This paper studies the motion control problem of an aerial manipulator that consists of a quad copter base and a robotic arm. We propose a novel control method that consists of a lightweight dynamic model and an MPC-based trajectory converter to perform accurate tracking control for the end-effector. The proposed method is verified by a step response experiment on the GAZEBO dynamics simulation platform. The experiment results show that the angular velocity disturbance of the end-effector is suppressed by the proposed method.