In this paper the authors consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. They develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. They demonstrate their methods on a team of aerial robots via simulation and experimentation.
Cooperative manipulation and transportation with aerial robots
Kooperative Manipulation und Transport mit Flugrobotern
2010
8 Seiten, 10 Bilder, 14 Quellen
Aufsatz (Konferenz)
Englisch
Cooperative manipulation and transportation with aerial robots
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