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.

翻译：本文研究了一种由全向倾斜无人机搭载五自由度机械臂构成的空中机械臂的控制问题。该机器人需与环境交互以检测结构并执行无损测量。研究开发了一种并行力-阻抗控制技术，用于以期望的力曲线与设计表面建立接触。在交互过程中，需要经过推压阶段以在表面与安装在末端执行器的超声测厚仪传感器之间形成真空，从而测量交互表面的厚度。通过重复测量验证了算法的可重复性。