Aerial Manipulator Kinematics
In classical robotics, robotic manipulators are composed of links connected through joints to form a so-called kinematic chain (Siciliano and Khatib, Springer handbook of robotics, 2008, ). Normally, this kinematic chain consists of two separate groups, manipulator and endeffector. However, in aerial and mobile robotics, we go a step further to augment this manipulator with a mobile base.
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