On‐site inspection of large‐scale infrastructure often involves high risks for the operators and high insurance costs. Despite several safety measures already in place to avoid accidents, an increasing concern has brought the need to remotely monitor hard‐to‐reach locations, for which the use of aerial robots able to interact with the environment has arisen. In this paper a novel approach to aerial manipulation is presented, where a compact manipulator with a single degree‐of‐freedom is tailored for the placement and retrieval of sensors in the environment. The proposed design integrates on‐board sensing, a high‐performance force controller on the manipulator, and a thrust‐to‐force mapping on the flight controller. Experimental results demonstrate the high reliability achieved during both placement and retrieval tasks on flat surfaces (e.g., a bridge wall) and cylindrical surfaces (e.g., tree trunks). A total number of 89 flight experiments were carried out to demonstrate the robustness and potential of the compact, bespoke aerial design.

中文翻译：

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设计，建模和控制用于在环境中放置和回收传感器的空中机械手

大型基础设施的现场检查通常给运营商带来高风险和高昂的保险费用。尽管已经采取了多种安全措施来避免事故发生，但是越来越多的人担心需要远程监控难以到达的位置，为此已经使用了能够与环境互动的空中机器人。本文提出了一种新颖的空中操纵方法，其中针对单个传感器在环境中的放置和获取量身定制了具有单自由度的紧凑型操纵器。拟议的设计集成了机载传感，机械手上的高性能力控制器以及飞行控制器上的推力映射。实验结果表明，在平面上进行放置和取回任务（例如，桥墙）和圆柱表面（例如树干）。总共进行了89次飞行实验，以证明紧凑型定制航空设计的坚固性和潜力。