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An aerial manipulator is the combined system of a robot arm attached to an unmanned aerial vehicle (UAV). The aerial vehicle increases the size of the robot arm's workspace in three dimensions, allowing the robot arm to execute manipulation tasks where it could not before. However, it is challenging to effectively control the position of the end-effector of a robot arm attached to a UAV due to the kinematic and dynamic coupling of the two systems. The focus of this work is to develop andoi:10.11575/prism/5477 fatcat:axsvayhspvhnbizhys2ykemp2y