scholarly journals Aerial manipulator with a compliant arm for bridge inspection

2017 ◽  
Author(s):  
A.E Jimenez-Cano ◽  
G. Heredia ◽  
A. Ollero
Keyword(s):  
Bridge Inspection ◽  
Aerial Manipulator

scholarly journals Aerial Manipulator Control Method Based on Generalized Jacobian

2021 ◽  
Vol 33 (2) ◽  
pp. 231-241
Author(s):  
Takahiro Ikeda ◽  
Kenichi Ohara ◽  
Akihiko Ichikawa ◽  
Satoshi Ashizawa ◽  
Takeo Oomichi ◽  
...  
Keyword(s):  
Coordinate System ◽  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
The Body ◽  
Degree Of Freedom ◽  
Bridge Inspection ◽  
Generalized Jacobian ◽  
Aerial Manipulator ◽  
Aerial Vehicle ◽  
Manipulator Control

This paper describes a control method for an aerial manipulator on an unmanned aerial vehicle (UAV) by using a generalized Jacobian (GJ). Our task is to realize visual check of bridge inspection by employing a UAV with a multi-degree-of-freedom (DoF) manipulator on its top. The manipulator is controlled by using the GJ. Subsequently, by comparing the aerial manipulator control with a conventional Jacobian experimentally, we discovered that the accuracy of the control improved by applying the GJ. The manipulator has three DoFs in the X-Z plane of the UAV coordinate system. The experiment shows that the manipulator controlled with the GJ can compensate for the pose error of the body by 54.5% and 47.7% in the X- and Z-axes, respectively.

Development of Wire Suspended Robot System (ARANEUS 2.0) for Bridge Inspection

10.29007/zw9k ◽  
2020 ◽  
Author(s):  
Kazuhide Nakata ◽  
Kazuki Umemoto ◽  
Kenji Kaneko ◽  
Ryusuke Fujisawa
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Concrete Surface ◽  
Wire Length ◽  
High Definition ◽  
Bridge Inspection ◽  
Robot System ◽  
Inspection Method ◽  
Aerial Vehicle ◽  
The Wire

This study addresses the development of a robot for inspection of old bridges. By suspending the robot with a wire and controlling the wire length, the movement of the robot is realized. The robot mounts a high-definition camera and aims to detect cracks on the concrete surface of the bridge using this camera. An inspection method using an unmanned aerial vehicle (UAV) has been proposed. Compared to the method using an unmanned aerial vehicle, the wire suspended robot system has the advantage of insensitivity to wind and ability to carry heavy equipments, this makes it possible to install a high-definition camera and a cleaning function to find cracks that are difficult to detect due to dirt.

Application of the Bridge Inspection Robotic Camera to Monitoring

2018 ◽  
Vol 56 (1) ◽  
pp. 100-105
Author(s):  
Y. Fujiwara ◽  
K. Umezu ◽  
K. Tamaki ◽  
K. Tanno
Keyword(s):  
Bridge Inspection ◽  
Robotic Camera

A Switchable Unmanned Aerial Manipulator System for Window-Cleaning Robot Installation

2021 ◽  
pp. 1-1
Author(s):  
Yinshuai Sun ◽  
Zhongliang Jing ◽  
Peng Dong ◽  
Jianzhe Huang ◽  
Wujun Chen ◽  
...  
Keyword(s):  
Cleaning Robot ◽  
Aerial Manipulator
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