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

Chiara Gabellieri; Antonio Franchi

doi:10.1109/ICUAS57906.2023.10156297

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

Chiara Gabellieri, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

323 Downloads (Pure)

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.

Original language	English
Title of host publication	2023 International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher	IEEE
Pages	963-968
Number of pages	6
ISBN (Electronic)	9798350310375
ISBN (Print)	979-8-3503-1038-2
DOIs	https://doi.org/10.1109/ICUAS57906.2023.10156297
Publication status	Published - 26 Jun 2023
Event	International Conference on Unmanned Aircraft Systems, ICUAS 2023 - Warsaw, Poland, Warsaw, Poland Duration: 6 Jun 2023 → 9 Jun 2023

Conference

Conference	International Conference on Unmanned Aircraft Systems, ICUAS 2023
Abbreviated title	ICUAS 2023
Country/Territory	Poland
City	Warsaw
Period	6/06/23 → 9/06/23

Keywords

Control design
Design methodology
Switches
Numerical simulation
Hardware
Trajectory
Numerical models

Access to Document

10.1109/ICUAS57906.2023.10156297

Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous EnvironmentAccepted author version, 8.89 MB

Cite this

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title = "Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment",

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. ",

keywords = "Control design, Design methodology, Switches, Numerical simulation, Hardware, Trajectory, Numerical models",

author = "Chiara Gabellieri and Antonio Franchi",

note = "Funding Information: Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. [email protected], [email protected] 2 Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy, [email protected] 3 LAAS-CNRS, Universite{\^A} de Toulouse, 31400 Toulouse, France, [email protected] This work was partially funded by the Horizon Europe and H2020 research and innovation programs under agreement no. 101059875 (Flyflic) and agreement no. 871479 (AERIAL-CORE), respectively. Publisher Copyright: {\textcopyright} 2023 IEEE.; International Conference on Unmanned Aircraft Systems, ICUAS 2023<br/>, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023",

year = "2023",

month = jun,

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doi = "10.1109/ICUAS57906.2023.10156297",

language = "English",

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Gabellieri, C & Franchi, A 2023, Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment. in 2023 International Conference on Unmanned Aircraft Systems (ICUAS)., 10156297, IEEE, pp. 963-968, International Conference on Unmanned Aircraft Systems, ICUAS 2023
, Warsaw, Poland, 6/06/23. https://doi.org/10.1109/ICUAS57906.2023.10156297

Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment. / Gabellieri, Chiara ; Franchi, Antonio.
2023 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2023. p. 963-968 10156297.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Differential Flatness and Manipulation of Elasto-flexible Cables Carried by Aerial Robots in a Possibly Viscous Environment

AU - Gabellieri, Chiara

AU - Franchi, Antonio

N1 - Funding Information: Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente, 7500 AE Enschede, The Netherlands. [email protected], [email protected] 2 Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy, [email protected] 3 LAAS-CNRS, UniversiteÂ de Toulouse, 31400 Toulouse, France, [email protected] This work was partially funded by the Horizon Europe and H2020 research and innovation programs under agreement no. 101059875 (Flyflic) and agreement no. 871479 (AERIAL-CORE), respectively. Publisher Copyright: © 2023 IEEE.

PY - 2023/6/26

Y1 - 2023/6/26

N2 - 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.

AB - 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.

KW - Control design

KW - Design methodology

KW - Switches

KW - Numerical simulation

KW - Hardware

KW - Trajectory

KW - Numerical models

U2 - 10.1109/ICUAS57906.2023.10156297

DO - 10.1109/ICUAS57906.2023.10156297

M3 - Conference contribution

SN - 979-8-3503-1038-2

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EP - 968

BT - 2023 International Conference on Unmanned Aircraft Systems (ICUAS)

PB - IEEE

T2 - International Conference on Unmanned Aircraft Systems, ICUAS 2023<br/>

Y2 - 6 June 2023 through 9 June 2023

ER -

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

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