This paper presents a novel bilateral shared framework for a cooperative aerial transportation and manipulation system composed by a team of micro aerial vehicles with a cable-suspended payload. The human operator is in charge of steering the payload and he/she can also change online the desired shape of the formation of robots. At the same time, an obstacle avoidance algorithm is in charge of avoiding collisions with the static environment. The signals from the user and from the obstacle avoidance are blended together in the trajectory generation module, by means of a tracking controller and a filter called dynamic input boundary (DIB). The DIB filters out the directions of motions that would bring the system too close to singularities, according to a suitable metric. The loop with the user is finally closed with a force feedback that is informative of the mismatch between the operator’s commands and the trajectory of the payload. This feedback intuitively increases the user’s awareness of obstacles or configurations of the system that are close to singularities. The proposed framework is validated by means of realistic hardware-in-the-loop simulations with a person operating the system via a force-feedback haptic interface.


    Access

    Download


    Export, share and cite



    Title :

    Shared control of an aerial cooperative transportation system with a cable-suspended payload


    Contributors:

    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Cable-Suspended Cooperative Transportation Control with Multi-unmanned Helicopters

    Su, Zikang / Zhou, Wenzhe / Liang, Xiao et al. | Springer Verlag | 2022


    APPARATUS FOR AERIAL TRANSPORTATION OF PAYLOAD

    MALLIKARJUNAN SRINATH | European Patent Office | 2020

    Free access

    Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

    Julian Estevez / Gorka Garate / Jose Manuel Lopez-Guede et al. | DOAJ | 2024

    Free access