Stable impact and contact force control by UAV for inspection of floor slab of bridge

Ikeda, Takahiro; Yasui, Shin; Minamiyama, Satoshi; Ohara, Kenichi; Ashizawa, Satoshi; Ichikawa, Akihiko; Okino, Akitoshi; Oomichi, Takeo; Fukuda, Toshio

doi:10.1080/01691864.2018.1525075

Cited by 38 publications

(18 citation statements)

References 26 publications

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“…In this implementation, a one DoF manipulator is added on UAV and the overall system is controlled by PID. This study is extended in [47] operation [48], without considering aerodynamic forces which can be troublesome in a close proximity flight to the ceiling.…”

Section: Literature Reviewmentioning

confidence: 99%

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Koçer

Tjahjowidodo

Pratama

et al. 2019

Automation in Construction

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Section: Literature Reviewmentioning

confidence: 99%

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Koçer

Tjahjowidodo

Pratama

et al. 2019

Automation in Construction

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“…Our research group has developed the UAV with 3‐DoF manipulator (Ikeda et al, ). In the previous work, the UAV was employed to execute the hammering test, therefore a hammering test unit was mounted at the end point of the manipulator.…”

Section: System Structurementioning

confidence: 99%

“…In this paper, we employ our developed UAV with the 3‐DoF manipulator described in Ikeda et al (). The camera (GoPro Hero 6; Woodman Labs) is mounted on the manipulator for the visual test instead of the hammering test unit.…”

Section: System Structurementioning

confidence: 99%

“…Our previous paper have described the method to derive the dynamics of our UAV with

m

manipulator in detail (Ikeda et al, ). Therefore in this section, we explain the essential points of derivation of our UAV with

m goodbreakinfix= 3

DoF manipulator.…”

Section: Stability Of Systemmentioning

confidence: 99%

“…However, the previous manipulator did not had enough controllability of the position of the end effector. Therefore our group has been developing the UAV with 3‐DoF manipulator (Ikeda et al, ; Minamiyama et al, ). Jimenez‐Cano et al and Nayak et al have worked on UAVs with manipulator on their top (Jimenez‐Cano, Braga, Heredia, & Ollero, ; Nayak, Papachristos, & Alexis, ).…”

Section: Introductionmentioning

confidence: 99%

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Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection

Ikeda

Minamiyama

Yasui

et al. 2019

Journal of Field Robotics

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This paper describes a camera position control with aerial manipulator for visual test of bridge inspection. Our developed unmanned aerial vehicle (UAV) has three-degree-offreedom (3-DoF) manipulator on its top to execute visual or hammering test of the inspection. This paper focuses on the visual test. A camera was implemented at the end of the manipulator to acquire images of the narrow space of the bridge such as bearings, which the conventional UAV without the camera-attached manipulators at its top cannot achieve the fine visual test. For the visual test, it is desirable that the camera is above the body with enough distance between the camera and the body. As obvious, the camera position in the inertial coordinate system is effected by the movement of the body.Therefore we implement the camera position control compensating the body movement into the UAV. As a result of an experiment, it is assessed that the proposed control reduces the position error of the camera comparing the one of the body. The mean position error of the camera is 0.039 m that is 51.4% of the one of the body. Our world-first study enables to acquire the image of the bearing of the bridge by a camera mounted at the end effector of aerial manipulator fixed on UAV.

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Design of a contact‐force controller including airframe's velocity and acceleration feedback controllers for one‐degree‐of‐freedom propeller‐driven systems

Nishii

Yashiro

Yubai

et al. 2022

Electrical Engineering Japan

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Contact‐force control of propeller‐driven systems achieves aerial tasks that require contact motions with objects. Conventional contact‐force controllers for propeller‐driven systems utilize a contact‐force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact‐force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact‐force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.

show abstract

Stable impact and contact force control by UAV for inspection of floor slab of bridge

Cited by 38 publications

References 26 publications

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools

Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection

Design of a contact‐force controller including airframe's velocity and acceleration feedback controllers for one‐degree‐of‐freedom propeller‐driven systems

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