Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform
Fuente:
arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
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| _version_ | 1866929408424542208 |
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| author | Marcellini, Salvatore D'Angelo, Simone De Crescenzo, Alessandro Marolla, Michele Lippiello, Vincenzo Siciliano, Bruno |
| author_facet | Marcellini, Salvatore D'Angelo, Simone De Crescenzo, Alessandro Marolla, Michele Lippiello, Vincenzo Siciliano, Bruno |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_03003 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform Marcellini, Salvatore D'Angelo, Simone De Crescenzo, Alessandro Marolla, Michele Lippiello, Vincenzo Siciliano, Bruno Robotics Systems and Control 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. |
| title | Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2407.03003 |