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• W4321609932 endingPage "1998" @default.
• W4321609932 startingPage "1991" @default.
• W4321609932 abstract "In this letter, the first prototype of an aerial shooting manipulator (ASM) powered by air pressure is proposed for distant grasping. The design of the ASM is described in detail, which is combined by a multirotor and a shooting manipulator including a pulse force generator, a retracting device and an end-effector. Compared to other types of aerial manipulators, the ASM can grasp the target in motion despite obstacles around the target and promote efficiency. To achieve a better control performance under parameter uncertainties, the adaptive sliding mode controller is designed for trajectory tracking of the aerial platform. In addition, a shooting point selection and trajectory modification strategy is proposed to ensure shooting the end-effector on the target. The trajectory is modified based on the original task waypoints to make flying distance as shortest as possible. The validity and effectiveness of the proposed method is demonstrated by both simulation results and real experiments in different situations." @default.
• W4321609932 created "2023-02-24" @default.
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• W4321609932 date "2023-04-01" @default.
• W4321609932 modified "2023-10-16" @default.
• W4321609932 title "Aerial Shooting Manipulator for Distant Grasping" @default.
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• W4321609932 doi "https://doi.org/10.1109/lra.2023.3245399" @default.
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