Artículo
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
Autor/es | Sánchez Cuevas, Pedro Jesús
González Morgado, Antonio Cortés, Nicolás Gayango, Diego B. Jiménez Cano, Antonio Enrique Ollero Baturone, Aníbal Heredia Benot, Guillermo |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2020-08 |
Fecha de depósito | 2020-10-08 |
Publicado en |
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Resumen | 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 ... 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. |
Agencias financiadoras | Ministerio de Economia, Industria y Competitividad (MINECO). España European Commission (EC) Ministerio de Educación, Cultura y Deporte (MECD). España |
Identificador del proyecto | RTI2018-102224-B-I00
H2020-MG-2017-769066 H2020-ICT-2019-2-871542 |
Cita | Sánchez Cuevas, P.J., González Morgado, A., Cortés, N., Gayango, D.B., Jiménez Cano, A.E., Ollero Baturone, A. y Heredia Benot, G. (2020). Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control. Sensors, 20 (17). Article number 4708. |
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