This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect structures and perform non-destructive measurements. A parallel force-impedance control technique is developed to establish contact with the designed surface with a desired force profile. During the interaction, a pushing phase is required to create a vacuum between the surface and the echometer sensor mounted at the end-effector, to measure the thickness of the interaction surface. Repetitive measures are performed to show the repeatability of the algorithm.
@article{arxiv.2407.03003,
title = {Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform},
author = {Salvatore Marcellini and Simone D'Angelo and Alessandro De Crescenzo and Michele Marolla and Vincenzo Lippiello and Bruno Siciliano},
journal= {arXiv preprint arXiv:2407.03003},
year = {2024}
}
Comments
In proceedings of 18th International Symposium on Experimental Robotics (ISER 2023)