  This paper presents a method for aerial manipulator end-effector trajectory
tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null
space of the manipulator attached to it in the motion planning procedure. The
proposed method runs in phases. Trajectory planning starts by not accounting
for roll and pitch angles of the underactuated UAV system. Next, we propose
simulating the dynamics on such a trajectory and obtaining UAV attitude through
the model. The full aerial manipulator state obtained in such a manner is
further utilized to account for discrepancies in planned and simulated
end-effector states. Finally, the end-effector pose is corrected through the
null space of the manipulator to match the desired end-effector pose obtained
in trajectory planning. Furthermore, we have applied the TOPP-RA approach on
the UAV by invoking the differential flatness principle. Finally, we conducted
experimental tests to verify effectiveness of the planning framework.

Robotics