Catenary Guided Cooperative Aerial Manipulation of a Cable Suspended Payload via Multi-Rotors
Uluhan C. Kaya, Kamesh Subbarao · 2024
The paper integrates catenary analysis of a flexible cable model in cooperative aerial manipulation task of a suspended rigid payload via multiple multi-rotors. For a desired payload trajectory, required force and moment are distributed among cables and employing the analytical catenary solution, desired end-point tension forces and relative positions for each cable are obtained, which are also utilized to guide each multi-rotor using a geometric attitude control approach. The results of numerical simulations for a trajectory tracking scenario displaying the efficacy of proposed approach are presented.