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This paper presents a framework for valve turning using an aerial vehicle endowed with dual multi-degree of freedom manipulators. A tightly integrated control scheme between the aircraft and manipulators is mandated for tasks requiring aircraft to environmental coupling. An analysis of yaw angle dynamics is conducted and implemented into the controller. A human machine interface provides user input to actuate the manipulators, become coupled to the valve, and perform the turning operation. We present recent results validating the valve turning framework using the proposed aircraft-arm system.
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Orsag et al. (2014) studied this question.