Singularity-Free Rotor-Distributed Manipulator

In recent years, the use of multirotor unmanned aerial vehicles (UAVs) has expanded significantly across various fields. Concurrently, aerial manipulation has emerged as a thriving area, leading to the development of diverse aerial manipulators [1]. The most common method is the integration of arms into multirotors [2–4]. Utilizing rotor-concentrated manipulators (RCMs), these drones can perform various manipulation tasks [5–7].