Sensorless Impedance Control for Curved Surface Inspections Using the Omni-Drone Aerial Manipulator

In this thesis, we develop a novel aerial manipulator system with an omni-directional workspace. The system comprises of a quadrotor platform equipped with a rotating five-bar linkage and serves the purpose of demonstrating the ability to perform contour tracing tasks on complex shapes, whilst airborne. In order to remove the dependency on...