  Pushing tasks performed by aerial manipulators can be used for contact-based
industrial inspections. Underactuated aerial vehicles are widely employed in
aerial manipulation due to their widespread availability and relatively low
cost. Industrial infrastructures often consist of diverse oriented work
surfaces. When interacting with such surfaces, the coupled gravity compensation
and interaction force generation of underactuated aerial vehicles can present
the potential challenge of near-saturation operations. The blind utilization of
these platforms for such tasks can lead to instability and accidents, creating
unsafe operating conditions and potentially damaging the platform. In order to
ensure safe pushing on these surfaces while managing platform saturation, this
work establishes a safety assessment process. This process involves the
prediction of the saturation level of each actuator during pushing across
variable surface orientations. Furthermore, the assessment results are used to
plan and execute physical experiments, ensuring safe operations and preventing
platform damage.
