Deployable Manipulator Technology with Application for UAVs

Aerial and space manipulators are difficult to control as reaction forces and reaction torques, induced by manipulator motions, disturb manipulator base (UAV or satellite). Low mass is, therefore, a key requirement for manipulator design. Few technology demonstrators for space manipulators have been developed so far. Aerial manipulators are also being researched in terms of potential future applications (e.g., emergency management). In this paper, deployable, low mass manipulator for UAV helicopter is presented. It was developed in the Space Research Centre of the Polish Academy of Sciences basing on steel tubular booms (initially developed for ESA Rosetta mission). The results of test flights of the UAV-manipulator system are presented, showing the influence of the manipulator motions on UAV state and its control system.