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Development of SAM: cable-Suspended Aerial Manipulator

Sarkisov, Iurii and Kim, MinJun and Bicego, Davide and Tsetserukou, Dzmitry and Ott, Christian and Franchi, Antonio and Kondak, Konstantin (2019) Development of SAM: cable-Suspended Aerial Manipulator. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2019, 20-25 May 2019, Montreal, Canada.

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Abstract

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.

Item URL in elib:https://elib.dlr.de/127682/
Document Type:Conference or Workshop Item (Poster)
Title:Development of SAM: cable-Suspended Aerial Manipulator
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sarkisov, IuriiIurii.Sarkisov (at) dlr.deUNSPECIFIED
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Bicego, Davidedavide.bicego (at) laas.frUNSPECIFIED
Tsetserukou, Dzmitryd.tsetserukou (at) skoltech.ruUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Franchi, Antonioantonio.franchi (at) laas.frUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Date:2019
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Aerial manipulation, suspended UAV, omnidirectional UAV
Event Title:ICRA 2019
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:20-25 May 2019
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik, R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Sarkisov, Iurii
Deposited On:11 Jun 2019 11:38
Last Modified:11 Jun 2019 11:38

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