Pilot study on control of one DoF manipulator on quadcopter for hammering check

Abstract

This paper describes a pilot study on control of one DoF manipulator on a quadcopter for hammering check of concrete bridges. The quadcopter leans its body due to an angle of an objective surface. Therefore, one DoF manipulator is required to keep an attitude of a hammering unit suitable for an inspection. We introduce our quadcopter with the manipulator and control strategy of the manipulator in this paper.