A motion planning approach to 6‐D manipulation with aerial towed‐cable systems

M. Manubens, D. Devaurs, L. Ros, J. Cortés, "A motion planning approach to 6‐D manipulation with aerial towed‐cable systems", International Micro Air Vehicle Conference and Flight Competition 2013, Toulouse, France, Sep. 2013

Abstract: 
We propose a new approach for the reliable 6‐dimensional quasi‐static manipulation with aerial towed cable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of cable‐driven manipulators with a cost‐based motion‐planning algorithm to solve manipulation queries. Such a combination of methods is able to produce feasible paths that do not approach dangerous/uncontrollable configurations of the system. As part of our approach, we also propose an original system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed‐length cables. Results of simulations on 6‐D quasi‐static manipulation problems show the interest of the method.
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