Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

The paper presents a multiple task-priorityinverse kinematics algorithm for a dual-arm aerial manipulator.Both tasks defined as equality constraints and inequalityconstraints are handled by means of a singularity robustmethod based on the Null-Space based Behavioral control.The proposed schema is constituted by the inverse kinematicscontrol, that receives the desired behavior of the system andoutputs the reference values for the motion variables, i.e.the UAV pose and the arm joints position, and a motioncontrol, that computes the vehicle thrusts and the jointtorques. The method has been experimentally validated ona system composed by an underactuated aerial hexarotorvehicle equipped with two lightweight 4-DOF manipulators,involved in operations requiring the coordination of the twoarms and the vehicle.