  Problems associated with physical interactions using aerial mobile
manipulators (AMM) are being independently addressed with respect to mobility
and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common
choice for mobility while on-board manipulators are increasingly be used for
manipulability. However, the dynamic coordination between the UAV and on-board
manipulator remains a significant obstacle to enable dexterous manipulation
with high precision. This paper presents an AMM system configuration to
addresses both the mobility and manipulability issues together. A
fully-actuated UAV is chosen to achieve dexterous aerial mobile manipulation,
but is limited by the actuation range of the UAV. An on-board manipulator is
employed to enhance the performance in terms of dexterity and precision at the
end-effector. Experimental results on position keeping of the dexterous
hexrotor by withstanding the disturbances caused by the motions of the on-board
manipulator and external wind disturbances are presented. Preliminary
simulation results on end-point tracking in a simple planar on-board
manipulator case is presented.
