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

Masone, Carlo; Bülthoff, Heinrich H.; Stegagno, Paolo

doi:10.1109/iros.2016.7759262

Cited by 65 publications

(57 citation statements)

References 19 publications

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“…The configuration C is the set of all cable directions decomposed into an azimuth φ i (angle of rotation about z 0 ) and inclination θ i (angle from z 0 to the cable) for each cable. With the control methodology being outside the scope of this paper (but similar to [10]), it is sufficient to know that the state is composed of the payload position x p , velocityẋ p , and the configuration C andĊ.…”

Section: Experimental Validationmentioning

confidence: 99%

“…In [9], differential flatness is used to generate feasible trajectories for the system. The authors of [10] use control methods adapted from cable-driven parallel robots (CD-PRs) to ensure stability and trajectory convergence, while in [11], a linear quadratic regulator is used to control the robot. In [12], a novel ACTS is presented and uses RRT graphs to determine feasible payload trajectories.…”

Section: Introductionmentioning

confidence: 99%

“…Wrench capabilities have been an important topic of research for CDPRs, playing an important role in their design, workspace analysis, and trajectory generation [15][16][17][18]. The link between CDPRs and ACTSs has been investigated by using tension distribution algorithms for the purposes of control and stability [10,19]. In [20], the degree of wrench inclusion is used as a performance index for CDPRs.…”

Section: Introductionmentioning

confidence: 99%

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Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Erskine

Chriette

Caro

2019

Journal of Mechanisms and Robotics

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Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method for evaluating the available wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in traditional cable-driven parallel robots to account for the constraints of quadrotor actuation and dynamics. Case studies and experimental results are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.

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Section: Experimental Validationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Erskine

Chriette

Caro

2019

Journal of Mechanisms and Robotics

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“…In this paper, we study a payload suspended via cables, which reduce the couplings between the platform and quadrotors attitude dynamics, allow reconfigurability, and reduce aerodynamic interference between the quadrotor downwash and the payload. Moreover, Cable-Driven Parallel Robots (CD-PRs) are well-studied, providing a part of theoretical support, such as tension distribution algorithms in [2], [3], [4], [5], controllers [6], [7] and wrench performance evaluations [8]. Reconfigurable CDPRs with both continuously moving [6], [9] and discrete [10] cable anchor points are proposed to solve problems such as wrench infeasiblility and self or environmental collisions.…”

Section: Introductionmentioning

confidence: 99%

“…An ACTS prototype for 6-dimensional manipulation "FlyCrane" and a motion planning approach called Transitionbased Rapidly-exploring Random Tree (T-RRT) are proposed in [11]. In [12] an ACTS prototype for 3-dimensional manipulation and a decentralized linear quadratic control law are proposed and [6] develops a general feedback linearization control scheme for over-actuated ACTS with a 6-DOF payload. An ACTS prototype with three quadrotors and a point mass is implemented in [13] and the performance was evaluated using capacity margin, a wrench-based robustness index adapted from the CDPR in [14].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Variable Aerial Cable Towed System

Erskine

Caro

et al. 2020

IEEE Robot. Autom. Lett.

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Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier payload capacity, modularity, and full control of the payload pose. They are however generally large with limited ability to meet geometric constraints while avoiding collisions between UAVs. This paper presents the modelling, performance analysis, design, and a proposed controller for a novel ACTS with variable cable lengths, named Variable Aerial Cable Towed System (VACTS).Winches are embedded on the UAVs for actuating the cable lengths similar to a Cable-Driven Parallel Robot to increase the versatility of the ACTS. The general geometric, kinematic and dynamic models of the VACTS are derived, followed by the development of a centralized feedback linearization controller. The design is based on a wrench analysis of the VACTS, without constraining the cables to pass through the UAV center of mass, as in current works. Additionally, the performance of the VACTS and ACTS are compared showing that the added versatility comes at the cost of payload and configuration flexibility. A prototype confirms the feasibility of the system.

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Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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

Cited by 65 publications

References 19 publications

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Design and Control of a Variable Aerial Cable Towed System

Two PVTOLs cooperative slung‐load transport control based on passivity

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