[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content
Log in

Cooperative manipulation and transportation with aerial robots

  • Published:
Autonomous Robots Aims and scope Submit manuscript

Abstract

In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We 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. We demonstrate our methods on a team of aerial robots via simulation and experimentation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Bosscher, P., & Ebert-Uphoff, I. (2004). Wrench-based analysis of cable-driven robots. In Proc. of the IEEE int. conf. on robotics and automation. New Orleans, LA (Vol. 5, pp. 4950–4955).

  • Cheng, P., Fink, J., Kim, S., & Kumar, V. (2008). Cooperative towing with multiple robots. In Proc. of the int. workshop on the algorithmic foundations of robotics, Guanajuato, Mexico.

  • Etkin, B. (1998). Stability of a towed body. Journal of Aircraft, 35(2), 197–205.

    Article  Google Scholar 

  • Fink, J., Michael, N., Kim, S., & Kumar, V. (2009). Planning and control for cooperative manipulation and transportation with aerial robots. In Int. symposium of robotics research, Luzern, Switzerland.

  • Gerkey, B. P., Vaughan, R. T., & Howard, A. (2003). The Player/Stage Project: Tools for multi-robot and distributed sensor systems. In Proc. of the int. conf. on advanced robotics, Coimbra, Portugal, pp. 317–323.

  • Henderson, J., Potjewyd, J., & Ireland, B. (1999). The dynamics of an airborne towed target system with active control. Proc of the Institution of Mech Eng, Part G: Journal of Aerospace Engineering, 213(5), 305–319.

    Article  Google Scholar 

  • Hunt, K. H. (1978). Kinematic geometry of mechanisms. London: Oxford University Press.

    MATH  Google Scholar 

  • Murray, R. M. (1996). Trajectory generation for a towed cable system using differential flatness. In IFAC world congress, San Francisco, CA.

  • Oh, S. R., & Agrawal, S. K. (2007). A control Lyapunov approach for feedback control of cable-suspended robots. In Proc. of the IEEE int. conf. on robotics and automation. Rome, Italy (pp. 4544–4549).

  • Phillips, J. (1990). Freedom in machinery, vol. 1. Cambridge: Cambridge University Press.

    Google Scholar 

  • Selig, J. M. (2005). Geometric fundamentals of robotics. Berlin: Springer.

    MATH  Google Scholar 

  • Sgarioto, D., & Trivailo, P. (2005). Cable assisted rendezvous for aircraft with surface locations. In Proc. of the int. federation of automatic control, Prague, Czech Republic.

  • Stump, E., & Kumar, V. (2006). Workspaces of cable-actuated parallel manipulators. ASME Journal of Mechanical Design, 128(1), 159–167.

    Article  Google Scholar 

  • Verhoeven, R. (2004). Analysis of the workspace of tendon-based Stewart platforms. PhD thesis, University Duisburg-Essen, Essen, Germany.

  • Williams, P., Sgarioto, D., & Trivailo, P. (2006). Optimal control of an aircraft-towed flexible cable system. Journal of Guidance, Control, and Dynamics, 29(2), 401–410.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Nathan Michael.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Michael, N., Fink, J. & Kumar, V. Cooperative manipulation and transportation with aerial robots. Auton Robot 30, 73–86 (2011). https://doi.org/10.1007/s10514-010-9205-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10514-010-9205-0

Keywords

Navigation