Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost. Industrial infrastructures often consist of diverse oriented work surfaces. When interacting with such surfaces, the coupled gravity compensation and interaction force generation of underactuated aerial vehicles can present the potential challenge of near-saturation operations. The blind utilization of these platforms for such tasks can lead to instability and accidents, creating unsafe operating conditions and potentially damaging the platform. In order to ensure safe pushing on these surfaces while managing platform saturation, this work establishes a safety assessment process. This process involves the prediction of the saturation level of each actuator during pushing across variable surface orientations. Furthermore, the assessment results are used to plan and execute physical experiments, ensuring safe operations and preventing platform damage.

翻译：飞行机械臂执行的推送任务可用于基于接触的工业检测。欠驱动飞行器因其广泛适用性和较低成本而被广泛应用于空中操控场景。工业基础设施常包含各种朝向的工作表面。当与这些表面交互时，欠驱动飞行器的重力补偿与交互力生成耦合效应可能引发近饱和运行的潜在挑战。盲目使用此类平台执行上述任务将导致失稳与事故，形成不安全操作环境并可能损坏平台。为在管理平台饱和度的同时确保在这些表面上的安全推送，本研究建立了一套安全评估流程。该流程包含预测推送过程中各执行器在不同表面朝向下的饱和程度，进而利用评估结果规划并实施物理实验，确保安全操作并防止平台损伤。