This paper addresses the problem of cooperative aerial transportation of an object using a team of quadrotors. The approach presented to solve this problem accounts for the full dynamics of the system and it is inspired by the literature on reconfigurable cable-driven parallel robots (RCDPR). Using the modelling convention of RCDPR it is derived a direct relation between the motion of the quadrotors and the motion of the payload. This relation makes explicit the available internal motion of the system, which can be used to automatically achieve additional tasks. The proposed method does not require to specify a priory the forces in the cables and uses a tension distribution algorithm to optimally distribute them among the robots. The presented framework is also suitable for online teleoperation. Physical simulations with a human-in-the-loop validate the proposed approach.

Cooperative transportation of a payload using quadrotors: a reconfigurable cable-driven parallel robot / Masone, C.; Bulthoff, H. H.; Stegagno, P.. - 2016:(2016), pp. 1623-1630. (Intervento presentato al convegno 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 tenutosi a Daejeon Convention Center (KOR) nel 09-14 October 2016) [10.1109/IROS.2016.7759262].

Cooperative transportation of a payload using quadrotors: a reconfigurable cable-driven parallel robot

Masone C.;
2016

Abstract

This paper addresses the problem of cooperative aerial transportation of an object using a team of quadrotors. The approach presented to solve this problem accounts for the full dynamics of the system and it is inspired by the literature on reconfigurable cable-driven parallel robots (RCDPR). Using the modelling convention of RCDPR it is derived a direct relation between the motion of the quadrotors and the motion of the payload. This relation makes explicit the available internal motion of the system, which can be used to automatically achieve additional tasks. The proposed method does not require to specify a priory the forces in the cables and uses a tension distribution algorithm to optimally distribute them among the robots. The presented framework is also suitable for online teleoperation. Physical simulations with a human-in-the-loop validate the proposed approach.
2016
978-1-5090-3762-9
978-1-5090-3761-2
File in questo prodotto:
File Dimensione Formato  
Cooperative_transportation_of_a_payload_using_quadrotors_A_reconfigurable_cable-driven_parallel_robot.pdf

non disponibili

Tipologia: 2a Post-print versione editoriale / Version of Record
Licenza: Non Pubblico - Accesso privato/ristretto
Dimensione 2.61 MB
Formato Adobe PDF
2.61 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2975812