Journal
AUTONOMOUS ROBOTS
Volume 30, Issue 1, Pages 73-86Publisher
SPRINGER
DOI: 10.1007/s10514-010-9205-0
Keywords
Aerial robotics; Cooperative manipulation; Multi-robot control; Parallel manipulators
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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.
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