Cooperative manipulation and transportation with aerial robots
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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.
KeywordsAerial robotics Cooperative manipulation Multi-robot control Parallel manipulators
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