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Manipulator dynamics, external forces and moments raise issues in stabilityand efficient control during aerial manipulation. Additionally, multirotorMicro Aerial Vehicles impose stringent limits on payload, actuation and systemstates. In view of these challenges, this work addressed the design and controlof a 3-DoF serial aerial manipulator for contact inspection. A lightweightdesign with sufficient dexterous workspace for NDT (Non-Destructive Testing)inspection is presented. This operation requires the regulation of normal forceon the inspected point. Contact dynamics have been discussed along with asimulation of the closed-loop dynamics during contact. The simulated controllerpreserves inherent system nonlinearities and uses a passivity approach toensure the convergence of error to zero. A transition scheme from free-flightto contact was developed along with the hardware and software frameworks forimplementation. This paper concludes with important drawbacks and prospects.

Design and Control of an Aerial Manipulator for Contact-based Inspection