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Rotorcraft Aerial Manipulator (RAM) system is composed of a Rotorcraft Unmanned Aerial Vehicle (RUAV) and a multi Degree-Of-Freedom (DOF) manipulator, which is designed to fulfill aerial manipulation. Moments of inertia and center-of-mass position for RAM system vary when the manipulator moves. The influence of robot arm motion is treated as perturbations for RUAV in the process of overall system...
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