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. ; Peer Reviewed ; Postprint (published version)
A motion planning approach to 6-D manipulation with aerial towed-cable systems
2013-01-01
Miscellaneous
Electronic Resource
English
DDC: | 629 |
A motion planning approach to 6-D manipulation with aerial towed-cable systems
BASE | 2013
|Motion Planning for an Aerial-Towed Cable System
AIAA | 2005
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