A motion planning approach to 6-D manipulation with aerial towed-cable systems
Tipus de documentText en actes de congrés
Condicions d'accésAccés obert
Projecte de la Comissió EuropeaARCAS - Aerial Robotics Cooperative Assembly System (EC-FP7-287617)
We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towed- cable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of cable-driven manipulators with a cost-based motion-planning algorithm to solve manipulation queries. Such a combination of methods is able to produce feasible paths that do not approach dangerous/uncontrollable configurations of the system. As part of our approach, we also propose an original system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed-length cables. Results of simulations on 6-D quasi-static manipulation problems show the interest of the method.
CitacióManubens, M. [et al.]. A motion planning approach to 6-D manipulation with aerial towed-cable systems. A: International Micro Air Vehicle Conference and Flight Competition. "Proceedings of the 2013 International Micro Air Vehicle Conference and Flight Competition". Toulouse: 2013, p. 1-7.