Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation
Yuri S. Sarkisov,Andre Coelho,Maihara G. Santos,Min Jun Kim,Dzmitry Tsetserukou,Christian Ott,Konstantin Kondak,Yuri S. Sarkisov,Andre Coelho,Maihara G. Santos,Min Jun Kim,Dzmitry Tsetserukou,Christian Ott,Konstantin Kondak
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-s...
