Modeling and characterization of a canopy sampling aerial manipulator

Following development of the canopy sampling aerial manipulator prototype, modeling and characterization work has been conducted towards the creation of an accurate dynamic simulation for all phases of the canopy sampling operation. The system model has been divided between aircraft, manipulator and environment to facilitate independent characterization and validation. An experimental methodology was favored to accurately represent the real system, and these results form a major contribution of the paper. With this model, some preliminary simulations are discussed for free-flight and coupled flight. Future work is proposed to improve and experimentally validate the complete model via flight tests, thus permitting its intended use as a supplementary tool for tasks such as flight controller tuning.