Title:
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A motion planning approach to 6-D manipulation with aerial towed-cable systems
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Author:
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Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan
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Other authors:
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Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
Abstract:
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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. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -aerospace robotics
artificial intelligence
planning (artificial intelligence)
robot kinematics
robots -Robots -- Cinemàtica |
Rights:
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Document type:
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Article - Published version Conference Object |
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