Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species.This project introduces a novel approach utilizing aerial manipulation through a suspended manipulator attached with a cable under a drone to address these challenges.Unlike existing dod analog delay solutions, the Mamba provides a horizontal reach up to 8 m to approach cliffs while keeping the drone at a safe distance.The system includes a model-based control system relying solely on an inertial measurement unit (IMU), reducing sensor requirements and computing power to minimize overall system mass.
This article presents novel contributions such as a double pendulum dynamic modeling approach and the development and evaluation of a precise control system for sampling operations.Indoor and outdoor tests demonstrate the effectiveness of the suspended aerial manipulator in real-world environments allowing nemacor maxx the collection of 55 samples from 28 different species.This research signifies a significant step toward enhancing the efficiency and safety of conservation efforts in challenging cliff habitats.