期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 4, 期 2, 页码 1846-1851出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2895880
关键词
Aerial Systems: Mechanics and Control; Aerial Systems: Applications; Motion Control
类别
资金
- European Union's Horizon 2020 research and innovation programme [644271]
We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle-to enhance physical interaction capabilities-endowed with a 2-DoFs lightweight arm-to enlarge its workspace. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a displaced positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.
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