Finite state machine and ultrasonic ranging-based approach for automatic grasping by aerial manipulator

This paper introduces an experiment-based recognition and grasping control method for aerial manipulators. The method consists of two parts: an automatic grasping process using a finite state machine, and an ultrasonic ranging principle. The D–H parameter method is utilized for analyzing the manipulator’s degree of freedoms, equipped with bus servos controlled via serial communication. The proposed strategy is evaluated using a practical experiment of the aerial manipulator system. This research contributes to the field of aerial manipulators by providing a robust and flexible way of grasping targets.