Modeling and control of a hexacopter with a passive manipulator for aerial manipulation

In this paper, a multi-propeller aerial robot with a passive manipulator for aerial manipulation is presented. In order to deal with the collision, external disturbance, changing inertia, and underactuated characteristic during the aerial manipulation, an adaptive trajectory linearization control (ATLC) scheme is presented to stabilize the multi-propeller aerial robot during the whole process. The ATLC controller is developed based on trajectory linearization control (TLC) method and model reference adaptive control (MRAC) method. The stability of the proposed system is analyzed by common Lyapunov function. Numerical simulations are carried out to compare the ATLC with TLC controller facing collision, external disturbance and changing inertia during an aerial manipulation. Experimental results prove that the developed robot can achieve aerial manipulation in the outdoor environment.

Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.

Safe Local Aerial Manipulation for the Installation of Devices on Power Lines: AERIAL-CORE First Year Results and Designs

The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require periodic inspection and maintenance, carried out nowadays by human operators in risky conditions. To increase safety and reduce time and cost with respect to conventional solutions involving manned helicopters and heavy vehicles, the AERIAL-CORE project proposes the development of aerial robots capable of performing aerial manipulation operations to assist human operators in power lines inspection and maintenance, allowing the installation of devices, such as bird flight diverters or electrical spacers, and the fast delivery and retrieval of tools. This manuscript describes the goals and functionalities to be developed for safe local aerial manipulation, presenting the preliminary designs and experimental results obtained in the first year of the project.