Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Design and Control of an Aerial Manipulator for Contact-based Inspection   Manipulator dynamics, external forces and moments raise issues in stability
and efficient control during aerial manipulation. Additionally, multirotor
Micro Aerial Vehicles impose stringent limits on payload, actuation and system
states. In view of these challenges, this work addressed the design and control
of a 3-DoF serial aerial manipulator for contact inspection. A lightweight
design with sufficient dexterous workspace for NDT (Non-Destructive Testing)
inspection is presented. This operation requires the regulation of normal force
on the inspected point. Contact dynamics have been discussed along with a
simulation of the closed-loop dynamics during contact. The simulated controller
preserves inherent system nonlinearities and uses a passivity approach to
ensure the convergence of error to zero. A transition scheme from free-flight
to contact was developed along with the hardware and software frameworks for
implementation. This paper concludes with important drawbacks and prospects.

2
The categories of this paper are: math
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
8
The categories of this paper are: hep-ex
11
The categories of this paper are: hep-lat
16
The categories of this paper are: stat
29
The categories of this paper are: funct-an
34
The categories of this paper are: chem-ph
33
The categories of this paper are: plasm-ph
31
The categories of this paper are: ao-sci
14
The categories of this paper are: math-ph
19
The categories of this paper are: eess
25
The categories of this paper are: patt-sol
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin