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This paper studies the motion planning problem of the pick-and-place of anaerial manipulator that consists of a quadcopter flying base and a Delta arm.We propose a novel partially decoupled motion planning framework to solve thisproblem. Compared to the state-of-the-art approaches, the proposed one has twonovel features. First, it does not suffer from increased computation inhigh-dimensional configuration spaces. That is because it calculates thetrajectories of the quadcopter base and the end-effector separately in theCartesian space based on proposed geometric feasibility constraints. Thegeometric feasibility constraints can ensure the resulting trajectories satisfythe aerial manipulator's geometry. Second, collision avoidance for the Deltaarm is achieved through an iterative approach based on a pinhole mappingmethod, so that the feasible trajectory can be found in an efficient manner.The proposed approach is verified by three experiments on a real aerialmanipulation platform. The experimental results show the effectiveness of theproposed method for the aerial pick-and-place task.

Motion Planning for Aerial Pick-and-Place based on Geometric Feasibility Constraints