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Pré-Publication, Document De Travail Année : 2018

A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants

Résumé

We present the design, control and motion planning of an aerial manipulator for a non-trivial physical interaction task, namely pushing while sliding on curved surfaces. The proposed robotic system is motivated by the increasing interest on autonomous Non-Destructive Tests used for the integrity assessment of 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 constitutes a truly redundant manipulator that goes beyond standard aerial manipulators with collinear multirotors. The robot controller is based on a PID method with 'displaced' positional part inspired by controllers for manipulators with elastic joints and grounded on several experimental trial-and-error tests. In this work we experimentally 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 acquired data, a weld on the pipe is successfully detected and mapped.
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Dates et versions

hal-01910343 , version 1 (31-10-2018)
hal-01910343 , version 2 (28-01-2019)

Identifiants

  • HAL Id : hal-01910343 , version 1

Citer

Marco Tognon, Hermes A Tello Chávez, Enrico Gasparin, Quentin Sablé, Davide Bicego, et al.. A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants. 2018. ⟨hal-01910343v1⟩
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