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Author Erskine, Julian ♦ Chriette, Abdelhamid ♦ Caro, Stéphane
Source Hyper Articles en Ligne (HAL)
Content type Text
File Format PDF
Language English
Subject Keyword Aerial Systems ♦ Multi-Robot Systems ♦ Quadrotors ♦ Control ♦ Reconfiguration ♦ Cable-Driven Parallel Robots ♦ spi ♦ Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph] ♦ Engineering Sciences [physics]/Automatic
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.
Educational Use Research
Learning Resource Type Proceeding
Publisher Date 2019-01-26