Cooperative manipulation and transportation with aerial robots
نویسندگان
چکیده
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.
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ورودعنوان ژورنال:
- Auton. Robots
دوره 30 شماره
صفحات -
تاریخ انتشار 2009