Fig. 10: Automatic whole-body motion planning for end-effector trajectory tracking.
From: A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments
“CMD” means control commands, “GT” means ground truth, and “EST” means estimated results. \([{p}_{x}^{e},{p}_{y}^{e},{p}_{z}^{e}]\) denotes arm tip’s position. \([{p}_{x}^{u},{p}_{y}^{u},{p}_{z}^{u}]\) denotes UAV's position. α denotes the arm section’s bending angle. a ARCLAB trajectory tracking. b Ring crossing for end-effector trajectory tracking.
