Year: 2009
Type: paratext
Abstract: In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables.We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations.We demonstrate our methods on a team of aerial robots via simulation and experimentation.
DOI: 10.15607/rss.2009.v
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
OpenAlex ID: W2470235696