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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: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE International Conference on Robotics and Automation, Montreal, Canada. ISBN 978-153866026-3. ISSN 10504729.
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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/132048/ | ||||||||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||||||||||||||||||
| Title: | Development of SAM: cable-Suspended Aerial Manipulator | ||||||||||||||||||||||||||||||||
| Authors: |
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| Date: | 13 December 2019 | ||||||||||||||||||||||||||||||||
| Journal or Publication Title: | 2019 International Conference on Robotics and Automation, ICRA 2019 | ||||||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||||||||||
| ISSN: | 10504729 | ||||||||||||||||||||||||||||||||
| ISBN: | 978-153866026-3 | ||||||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||||||
| Keywords: | Aerial Manipulator, SAM | ||||||||||||||||||||||||||||||||
| Event Title: | IEEE International Conference on Robotics and Automation | ||||||||||||||||||||||||||||||||
| Event Location: | Montreal, Canada | ||||||||||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Intelligente Mobilität (old) | ||||||||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||||||||||
| Deposited By: | Kim, MinJun | ||||||||||||||||||||||||||||||||
| Deposited On: | 13 Dec 2019 10:21 | ||||||||||||||||||||||||||||||||
| Last Modified: | 10 Mar 2022 11:31 |
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