The paper proposes an efficient trajectory planning and control approach for
payload grasping and transportation using an aerial manipulator. The proposed
manipulator structure consists of a hook attached to a quadrotor using a 1 DoF
revolute joint. To perform payload grasping, transportation, and release,
first, time-optimal reference trajectories are designed through specific
waypoints to ensure the fast and reliable execution of the tasks. Then, a
two-stage motion control approach is developed based on a robust geometric
controller for precise and reliable reference tracking and a linear--quadratic
payload regulator for rapid setpoint stabilization of the payload swing. The
proposed control architecture and design are evaluated in a high-fidelity
physical simulator with external disturbances and also in real flight
experiments.Comment: Submitted to IEEE Robotics and Automation Letters (2023