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Communication Dans Un Congrès Année : 2013

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

Résumé

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.
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Dates et versions

hal-00872262 , version 1 (11-10-2013)

Identifiants

  • HAL Id : hal-00872262 , version 1

Citer

Montserrat Manubens, Didier Devaurs, Lluis Ros, Juan Cortés. A motion planning approach to 6-D manipulation with aerial towed-cable systems. International Micro Air Vehicle Conference and Flight Competition (IMAV '13), Sep 2013, Toulouse, France. 8p. ⟨hal-00872262⟩
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