Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

Chiara Gabellieri; Lars Teeuwen; Yaolei Shen; Antonio Franchi

doi:10.48550/arXiv.2503.04304

Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

Chiara Gabellieri
, Lars Teeuwen
, Yaolei Shen
, Antonio Franchi

Robotics and Mechatronics

Research output: Working paper › Preprint › Academic

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Abstract

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.

Original language	English
Publisher	ArXiv.org
DOIs	https://doi.org/10.48550/arXiv.2503.04304
Publication status	Published - 6 Mar 2025

Keywords

cs.RO
cs.SY
eess.SY

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10.48550/arXiv.2503.04304Licence: CC BY

2503.04304v1Final published version, 9.93 MBLicence: CC BY

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Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

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