Article (Scientific journals)
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
Sanchez Cuevas, Pedro Jesus; Gonzalez Morgado, Antonio; Cortes, Nicolas et al.
2020In Sensors
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Abstract :
[en] This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can measure the contact force to regulate the force applied with the sensor on the structure. The aerial platform has been designed with tilted propellers to be fully actuated, achieving independent attitude and position control. It also mounts a “docking gear” to establish full contact with the infrastructure during the inspection, minimizing the measurement errors derived from the motion of the aerial platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...). The localization system of the aerial robot uses multi-sensor fusion of the measurements of a topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals are not available. The paper also presents the modeling and control of the aerial robot. Validation experiments of the localization system and the control system, and with the aerial robot inspecting a real bridge are also included.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Sanchez Cuevas, Pedro Jesus ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Gonzalez Morgado, Antonio
Cortes, Nicolas
Gayango, Diego B.
Jimenez Cano, Antonio E.
Ollero, Anibal
Heredia, Guillermo
External co-authors :
yes
Language :
English
Title :
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
Publication date :
20 August 2020
Journal title :
Sensors
ISSN :
1424-3210
Publisher :
Multidisciplinary Digital Publishing Institute (MDPI), Basel, Switzerland
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBilu :
since 21 June 2021

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