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

Montserrat Manubens; Didier Devaurs; Lluis Ros; Juan Cortés

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

Montserrat Manubens
, Didier Devaurs
, Lluis Ros
, Juan Cortés

Computer And Information Sciences

Research output: Contribution to conference › Paper › peer-review

Abstract

We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towedcable 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.

Original language	English
Number of pages	7
Publication status	Published - 20 Sept 2013
Event	International Micro Air Vehicle Conference and Flight Competition 2013 - Toulouse, France Duration: 17 Sept 2013 → 20 Sept 2013

Conference

Conference	International Micro Air Vehicle Conference and Flight Competition 2013
Abbreviated title	IMAV 2013
Country/Territory	France
City	Toulouse
Period	17/09/13 → 20/09/13

Keywords

static analysis
cable-driven manipulators
motion planning

Cite this

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title = "A motion planning approach to 6-D manipulation with aerial towed-cable systems",

abstract = "We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towedcable 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.",

keywords = "static analysis, cable-driven manipulators, motion planning",

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TY - CONF

T1 - A motion planning approach to 6-D manipulation with aerial towed-cable systems

AU - Manubens, Montserrat

AU - Devaurs, Didier

AU - Ros, Lluis

AU - Cortés, Juan

PY - 2013/9/20

Y1 - 2013/9/20

N2 - We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towedcable 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.

AB - We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towedcable 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.

KW - static analysis

KW - cable-driven manipulators

KW - motion planning

M3 - Paper

T2 - International Micro Air Vehicle Conference and Flight Competition 2013

Y2 - 17 September 2013 through 20 September 2013

ER -

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

Abstract

Conference

Keywords

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Cite this