In this paper, we propose the novel type of the aerial manipulation. The proposed system utilizes an eye-in-hand type parallel
manipulator, which has the visual sensor system attached on the end-effector. The proposed aerial parallel manipulator can
maximize the advantages of the serial manipulator while minimizing their shortcomings. In order to enhance these advantages,
we derive the loosely-coupled end-effector dynamics and apply it into the host vehicle with the simple control law.
Furthermore, we propose a vision-enabled end effector control architecture based on the inverse kinematics of the parallel
robot. The proposed system is verified and validated by performing the flight test.