Past, Present, and Future of Aerial Robotic Manipulators

一篇关于空中机械臂的结构化综述，涵盖从直升机、标准多旋翼到搭载各类机械臂的多向推力飞行器。文章按推力特性（单向、多向、全驱动、过驱动、全向）对平台分类，并涉及工具与机械臂形态、柔顺性、协作、遥操作、感知和规划。应用包括储罐、管道、桥梁和工厂的接触式巡检以及阀门操作，文中指出的挑战是续航、安全、风中精度和可靠的自主性。

主要发现

• Positioning accuracy should be below about 10% of the manipulator's reach; platforms above 25 kg should be avoided
• Visual markers gave better than 5 mm accuracy at 0.7 m, while UWB localization gave about 0.5 m
• Marker-free ICP localization had 0.11-0.21 m RMS error at tens of metres
• Future challenges: flight time/BVLOS, interaction safety, accuracy under wind, reliable autonomy

局限

• Review; few direct comparisons of NDT measurement quality
• Ultrasonic thickness measurement and power lines are not singled out in the body