Presentado al Robotics: Science and Systems: Workshop on Aerial Mobile Manipulation celebrado en Berlin del 24 al 28 de junio de 2013. ; We propose a new approach for the reliable 6- dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of cable-driven manipulators with the application of a cost-based motion-planning algorithm to solve manipulation queries. Using this approach, we can ensure that the produced paths are feasible and do not approach dangerous configurations that could provoque the malfunction of the system. The approach has been simulated on the FlyCrane, consisting of a platform attached to three flying robots using six fixed-length cables. The obtained results show the success and the suitability of the approach. ; This work has been partially supported by the European Community under contract ICT 287617 ”ARCAS“, by the Spanish Ministry of Economy and Competitiveness under contract DPI2010-18449, and by a Juan de la Cierva contract supporting the first author. ; Peer Reviewed
6-D manipulation with aerial towed-cable system
2013-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
A motion planning approach to 6-D manipulation with aerial towed-cable systems
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