Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform

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...

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Bibliographic Details
Published in:arXiv.org 2024-07
Main Authors: Marcellini, Salvatore, D'Angelo, Simone, De Crescenzo, Alessandro, Marolla, Michele, Lippiello, Vincenzo, Siciliano, Bruno
Format: Article
Language:English
Subjects:
Algorithms
Drone aircraft
End effectors
Inspection
Nondestructive testing
Robot arms
Thickness measurement
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Summary: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.
ISSN:2331-8422