Control and Configuration Planning of an Aerial Cable Towed System

Abstract : This paper investigates the effect of the robot configuration on the performance of an aerial cable towed system (ACTS) composed of three quadrotors manipulating a point mass payload. The kinematic and dynamic models of the ACTS are derived in a minimal set of geometric coordinates, and a centralized feedback linearization controller is developed. Independent to the payload trajectory, the configuration of the ACTS is controlled and is evaluated using a robustness index named the capacity margin. Experimental validation is performed with optimal, suboptimal, and wrench infeasible configurations. It is shown that configurations near the point of zero capacity margin allow the ACTS to hover but not to follow dynamic trajectories, and that the ACTS cannot fly with a negative capacity margin. Dynamic tests are performed on the ACTS, showing the effects of the configuration on the achievable accelerations.
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Julian Erskine, Abdelhamid Chriette, Stéphane Caro. Control and Configuration Planning of an Aerial Cable Towed System. The 2019 IEEE International Conference on Robotics and Automation (ICRA~2019), May 2019, Montreal, Canada. ⟨hal-01995301⟩

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