Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
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.
BibTeX
@inproceedings{icra2019_developmentofsam,
title = {Development of SAM: cable-Suspended Aerial Manipulator},
author = {Yuri S. Sarkisov and Min Jun Kim and Davide Bicego and Dzmitry Tsetserukou and Christian Ott and Antonio Franchi and Konstantin Kondak},
booktitle = {ICRA 2019},
year = {2019}
}