The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors
| Autor: | David Saldaña, Diego S. D'Antonio, Gustavo A. Cardona |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Control and Optimization Computer science Biomedical Engineering 02 engineering and technology Degrees of freedom (mechanics) Span (engineering) Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Position (vector) Orientation (geometry) Catenary 0202 electrical engineering electronic engineering information engineering Robot kinematics Mechanical Engineering Control engineering Computer Science Applications Human-Computer Interaction Control and Systems Engineering Trajectory Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Robotics (cs.RO) |
| Zdroj: | IEEE Robotics and Automation Letters. 6:3857-3863 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2021.3062603 |
| Popis: | Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage usually requires human intervention, and autonomous procedures to locate and attach the object are not considered. Additionally, most of the approaches assume cables as rigid links, but manipulating cables requires considering the state when the cables are hanging. In this work, we design and control a catenary robot. Our robot is able to transport hook-shaped objects in the environment. The robotic system is composed of two quadrotors attached to the two ends of a cable. By defining the catenary curve with five degrees of freedom, position in 3-D, orientation in the z-axis, and span, we can drive the two quadrotors to track a given trajectory. We validate our approach with simulations and real robots. We present four different scenarios of experiments. Our numerical solution is computationally fast and can be executed in real-time. Supplementary video: https://youtu.be/RjKkjZuCDV4 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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