Gabellieri, Chiara (University of Twente), Franchi, Antonio (University of Twente)

Differential Flatness and Manipulation of Elasto-Flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment

Scheduled for presentation during the Regular Session "Aerial Robotic Manipulation" (FrA1), Friday, June 9, 2023, 11:50−12:10, Room 118

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This work considers a system composed of two quadrotors manipulating a deformable and extensible cable. The dynamic model is presented, and it is based on a discrete representation of the cable, which is decomposed into lumped masses interconnected by linear springs through passive spherical joints. A set of flat outputs is found for the system. The flatness is exploited to design a method to manipulate the cable, which is then tested through numerical simulations.