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

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Título:	A motion planning approach to 6-D manipulation with aerial towed-cable systems
Autor/a:	Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan
Otros autores:	Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
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.
Abstract:	Peer Reviewed
Materia(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -aerospace robotics artificial intelligence planning (artificial intelligence) robot kinematics robots -Robots -- Cinemàtica
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Tipo de documento:	Artículo - Versión publicada Objeto de conferencia
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Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan

Manubens Ferriol, Montserrat; Devaurs, Didier; Cortés, Juan; Ros Giralt, Lluís

Bohigas, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís

Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria

Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís

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