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During operation, aerial manipulation systems are affected by variousdisturbances. Among them is a gravitational torque caused by the weight of therobotic arm. Common propeller-based actuation is ineffective against suchdisturbances because of possible overheating and high power consumption. Toovercome this issue, in this paper we propose a winchbased actuation for thecrane-stationed cable-suspended aerial manipulator. Three winch-controlledsuspension rigging cables produce a desired cable tension distribution togenerate a wrench that reduces the effect of gravitational torque. In order tocoordinate the robotic arm and the winch-based actuation, a model-basedhierarchical whole-body controller is adapted. It resolves two tasks: keepingthe robotic arm end-effector at the desired pose and shifting the system centerof mass in the location with zero gravitational torque. The performance of theintroduced actuation system as well as control strategy is validated throughexperimental studies.

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation