Presentado al International Micro Air Vehicle Conference and Flight Competition celebrado en Toulouse (Francia) del 17 al 20 de septiembre de 2013. ; 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. ; This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under contract DPI2010-18449, by the European Community under contract ICT 287617 “ARCAS”, and by a Juan de la Cierva contract supporting the first author. ; Peer Reviewed


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    Titel :

    A motion planning approach to 6-D manipulation with aerial towed-cable systems


    Beteiligte:
    Manubens, Montserrat (Autor:in) / Devaurs, Didier (Autor:in) / Ros, Lluís (Autor:in) / Cortés, Juan (Autor:in)

    Erscheinungsdatum :

    01.01.2013


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



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