  The aerial manipulator (AM) is a systematic operational robotic platform in
high standard on algorithm robustness. Directly deploying the algorithms to the
practical system will take numerous trial and error costs and even cause
destructive results. In this paper, a new modular simulation platform is
designed to evaluate aerial manipulation related algorithms before deploying.
In addition, to realize a fully autonomous aerial grasping, a series of
algorithm modules consisting a complete workflow are designed and integrated in
the simulation platform, including perception, planning and control modules.
This framework empowers the AM to autonomously grasp remote targets without
colliding with surrounding obstacles relying only on on-board sensors.
Benefiting from its modular design, this software architecture can be easily
extended with additional algorithms. Finally, several simulations are performed
to verify the effectiveness of the proposed system.
