Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

The proximity between the multirotor blades and the environmental obstacles restricts the application of aerial manipulators in inspection tasks due to the risk of impacts, the limitation in the reach of the arm, and the physical interactions. This paper presents a long reach aerial manipulator consisting of a hexarotor platform equipped with a 2-DOF compliant joint arm attached at the tip of a one-meter-length link in passive pendulum configuration. The arm integrates magnetic encoders for force/torque estimation-control based on joint deflection, a range sensor in the forearm link for measuring the distance to the contact point, and a camera for visual inspection. A 2-DOF wearable exoskeleton interface has been developed, allowing the teleoperation of the arm with visual feedback in a more intuitive way. The paper also covers the kinematics and dynamics of the aerial manipulator, including the dynamics of the flexible long reach link. The developed system has been evaluated in testbench and in outdoor flight tests.