A motion planning approach to 6-D manipulation with aerial towed-cable systems

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/22535

dc.contributor	Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.author	Manubens Ferriol, Montserrat
dc.contributor.author	Devaurs, Didier
dc.contributor.author	Ros Giralt, Lluís
dc.contributor.author	Cortés, Juan
dc.date	2013
dc.identifier.citation	Manubens, M. [et al.]. A motion planning approach to 6-D manipulation with aerial towed-cable systems. A: International Micro Air Vehicle Conference and Flight Competition. "Proceedings of the 2013 International Micro Air Vehicle Conference and Flight Competition". Toulouse: 2013, p. 1-7.
dc.identifier.uri	http://hdl.handle.net/2117/22535
dc.language.iso	eng
dc.relation	http://www.imav2013.org/index.php/component/phocadownload/category/10-technical-session-6%3Fdownload=41:1-a-motion-planning-approach-to-6-d-manipulation-with-aerial-towed-cable-systems
dc.relation	info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	aerospace robotics artificial intelligence planning (artificial intelligence) robot kinematics robots
dc.subject	Robots -- Cinemàtica
dc.title	A motion planning approach to 6-D manipulation with aerial towed-cable systems
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.
dc.description.abstract	Peer Reviewed

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