Effector-Centric NMPC of Tiltable-Multirotors for Offset-Free Omnidirectional Aerial ManipulationJinjie Li, Yicheng Chen, Johannes Kübel, Haokun Liu, Junichiro Sugihara, Moju Zhao9月 8, 2026 International, JournalPDF 引用 DOI IEEE Xplore video-part-1 video-part-2 video-part-3Modeling End Effectors Rotors Robots Force Design Methodology Timing Torque Servomotors Interference Aerial Manipulation MPC Omnidirectional Flight Tiltable-Multirotor Wrench Estimation