Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911204849483776 |
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| author | Gabellieri, Chiara Teeuwen, Lars Shen, Yaolei Franchi, Antonio |
| author_facet | Gabellieri, Chiara Teeuwen, Lars Shen, Yaolei Franchi, Antonio |
| contents | This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_04304 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs Gabellieri, Chiara Teeuwen, Lars Shen, Yaolei Franchi, Antonio Robotics Systems and Control This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested. |
| title | Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.04304 |