Relevant bibliographies by topics / Cable suspended payload

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Cable suspended payload'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Cable suspended payload"

1

Kusznir, Tom, and Jarosław Smoczek. "Quadrotor UAV Control for Transportation of Cable Suspended Payload." Journal of KONES 26, no. 2 (June 1, 2019): 77–84. http://dx.doi.org/10.2478/kones-2019-0035.

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Abstract Payload transportation with UAV’s (Unmanned Aerial Vehicles) has become a topic of interest in research with possibilities for a wide range of applications such as transporting emergency equipment to otherwise inaccessible areas. In general, the problem of transporting cable suspended loads lies in the under actuation, which causes oscillations during horizontal transport of the payload. Excessive oscillations increase both the time required to accurately position the payload and may be detrimental to the objects in the workspace or the payload itself. In this article, we present a method to control a quadrotor with a cable suspended payload. While the quadrotor itself is a nonlinear system, the problem of payload transportation with a quadrotor adds additional complexities due to both input coupling and additional under actuation of the system. For simplicity, we fix the quadrotor to a planar motion, giving it a total of 4 degrees of freedom. The quadrotor with the cable suspended payload is modelled using the Euler-Lagrange equations of motion and then partitioned into translation and attitude dynamics. The design methodology is based on simplifying the system by using a variable transformation to decouple the inputs, after which sliding mode control is used for the translational and pendulum dynamics while a feedback linearizing controller is used for the rotational dynamics of the quadrotor. The sliding mode parameters are chosen so stability is guaranteed within a certain region of attraction. Lastly, the results of the numerical simulations created in MATLAB/Simulink are presented to verify the effectiveness of the proposed control strategy.
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Lin, Jonqlan, Chi Ying Wu, and Julian Chang. "Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803845.

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Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.
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Oh, So-Ryeok, Ji-Chul Ryu, and Sunil K. Agrawal. "Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot." Journal of Mechanical Design 128, no. 5 (December 2, 2005): 1113–21. http://dx.doi.org/10.1115/1.2218882.

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In this paper we present a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable suspended robot underneath the helicopter can modulate a platform in position and orientation. Due to the underactuated nature of the helicopter, the operation of this dual system consisting of the helicopter and the cable robot is challenging. We propose here a two time scale control method, which makes it possible to control the helicopter and the cable robot independently. In addition, this method provides an effective estimation on the bound of the motion of the helicopter. Therefore, even in the case where the helicopter motion is unknown, the cable robot can be stabilized by implementing a robust controller. Simulation results of the dual system show that the proposed control approach is effective for such a helicopter-robot system.
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Guerrero-Sánchez, M. Eusebia, D. Alberto Mercado-Ravell, Rogelio Lozano, and C. Daniel García-Beltrán. "Swing-attenuation for a quadrotor transporting a cable-suspended payload." ISA Transactions 68 (May 2017): 433–49. http://dx.doi.org/10.1016/j.isatra.2017.01.027.

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Kusznir, Tom, and Jaroslaw Smoczek. "Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration." Journal of Control Science and Engineering 2020 (January 11, 2020): 1–12. http://dx.doi.org/10.1155/2020/5058039.

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This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.
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Lv, Zong-Yang, Yuhu Wu, and Wang Rui. "Nonlinear Motion Control for a Quadrotor Transporting a Cable-Suspended Payload." IEEE Transactions on Vehicular Technology 69, no. 8 (August 2020): 8192–206. http://dx.doi.org/10.1109/tvt.2020.2997733.

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7

Barikbin, Baharnaz, and Ahmad Fakharian. "Trajectory tracking for quadrotor UAV transporting cable-suspended payload in wind presence." Transactions of the Institute of Measurement and Control 41, no. 5 (June 21, 2018): 1243–55. http://dx.doi.org/10.1177/0142331218774606.

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In this paper, trajectory tracking for a quadrotor unmanned aerial vehicle (UAV) is considered in the presence of a cable-suspended payload and wind as unknown disturbances. It is assumed that the wind disturbance is slowly time varying and affects quadrotor position and orientation independently. Nonlinear robust strategies, such as backstepping and sliding mode control could be used for trajectory tracking; however, they fail to stabilize the system in the presence of payload or wind, or both together. We have proposed a combined backstepping and super-twisting integral sliding mode strategy to stabilize the system. Conventional sliding mode control suggests discontinuous control signals and suffers from the chattering phenomenon whereas its super-twisting integral version suggests continuous control signals, which makes it implementable and chattering free.
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Mohammadi, Keyvan, Shahin Sirouspour, and Ali Grivani. "Control of Multiple Quad-Copters With a Cable-Suspended Payload Subject to Disturbances." IEEE/ASME Transactions on Mechatronics 25, no. 4 (August 2020): 1709–18. http://dx.doi.org/10.1109/tmech.2020.2995138.

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Kuře, Matěj, Jaroslav Bušek, Tomáš Vyhlídal, and Silviu-Iulian Niculescu. "Algorithms for cable-suspended payload sway damping by vertical motion of the pivot base." Mechanical Systems and Signal Processing 149 (February 2021): 107131. http://dx.doi.org/10.1016/j.ymssp.2020.107131.

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Vyhlidal, Tomas, Milan Anderle, Jaroslav Busek, and Silviu-Iulian Niculescu. "Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length." IEEE/ASME Transactions on Mechatronics 22, no. 5 (October 2017): 2319–29. http://dx.doi.org/10.1109/tmech.2017.2736942.

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Dissertations / Theses on the topic "Cable suspended payload"

1

Toumi, Noureddine. "Decentralized control of multi-agent aerial transportation system." Thesis, 2017. http://hdl.handle.net/10754/623419.

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Autonomous aerial transportation has multiple potential applications including emergency cases and rescue missions where ground intervention may be difficult. In this context, the following work will address the control of multi-agent Vertical Take-off and Landing aircraft (VTOL) transportation system. We develop a decentralized method. The advantage of such a solution is that it can provide better maneuverability and lifting capabilities compared to existing systems. First, we consider a cooperative group of VTOLs transporting one payload. The main idea is that each agent perceive the interaction with other agents as a disturbance while assuming a negotiated motion model and imposing certain magnitude bounds on each agent. The theoretical model will be then validated using a numerical simulation illustrating the interesting features of the presented control method. Results show that under specified disturbances, the algorithm is able to guarantee the tracking with a minimal error. We describe a toolbox that has been developed for this purpose. Then, a system of multiple VTOLs lifting payloads will be studied. The algorithm assures that the VTOLs are coordinated with minimal communication. Additionally, a novel gripper design for ferrous objects is presented that enables the transportation of ferrous objects without a cable. Finally, we discuss potential connections to human in the loop transportation systems.
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Book chapters on the topic "Cable suspended payload"

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Bingöl, Özhan, and Haci Mehmet Güzey. "Sliding Mode Control for a Quadrotor UAV Transporting a Cable-Suspended Payload." In Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 289–303. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-9267-2_24.

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Nelson, Carl, Raphaël Thienpont, and Ashish Shinde. "Pose-Independent Counterweighting of Cable-Suspended Payloads with Application to Rehabilitation." In New Trends in Mechanism and Machine Science, 345–53. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-44156-6_35.

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Li, Guanrui, and Giuseppe Loianno. "Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial Vehicles." In Experimental Robotics, 28–36. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-71151-1_3.

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Conference papers on the topic "Cable suspended payload"

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Picard, Etienne, Stéphane Caro, Franck Plestan, and Fabien Claveau. "Control Solution for a Cable-Driven Parallel Robot With Highly Variable Payload." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85304.

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This paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving platform (MP), suitable for pick-and-place operations of heterogeneous objects with different shapes, sizes and masses, up to a total load of 700 kg. Dynamometers measure the force applied by each cable onto the moving-platform and are used to assess the payload mass at any time. In the proposed control solution, each motor of the CDPR is directly driven by a PD torque controller, which takes benefit of the real-time payload estimation in a feedforward term. In order to evaluate its performance, experiments on a typical pick and place trajectory are realized for different payloads. As a result, three control schemes: (i) a Proportional-Derivative (PD) torque controller; (ii) a PD controller with compensation of the MP mass only and (iii) a PD controller with real-time mass estimation and compensation are experimentally compared with respect to their positioning accuracy. It turns out that a good estimation of the payload is obtained in real-time thanks to the dynamometers. Moreover, the higher the payload mass, the more accurate the proposed controller with respect to its two counterparts.
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2

Chen, Ti, and Jinjun Shan. "Cooperative Transportation of Cable-suspended Slender Payload Using Two Quadrotors." In 2019 IEEE International Conference on Unmanned Systems (ICUS). IEEE, 2019. http://dx.doi.org/10.1109/icus48101.2019.8995928.

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3

Longhao Qian and Hugh H. T. Liu. "Dynamics and control of a quadrotor with a cable suspended payload." In 2017 IEEE 30th Canadian Conference on Electrical and Computer Engineering (CCECE). IEEE, 2017. http://dx.doi.org/10.1109/ccece.2017.7946750.

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Oh, So-Ryeok, Ji-Chul Ryu, and Sunil K. Agrawal. "Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85131.

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This paper presents a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable suspended robot underneath the helicopter can modulate a platform in position and orientation. Due to the under-actuated nature of the helicopter, the operation of this dual system consisting of the helicopter and the cable robot is challenging. We propose here a two time scale control method, which makes it possible to control the helicopter and the cable robot independently. In addition, this method provides an effective estimation on the bound of the motion of the helicopter. Therefore, even in the case where the helicopter motion is unknown, the cable robot can be stabilized by implementing a robust controller. Simulation results of the dual system show that the proposed control approach is effective for such a helicopter-robot system.
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Foehn, Philipp, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, and Davide Scaramuzza. "Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload." In Robotics: Science and Systems 2017. Robotics: Science and Systems Foundation, 2017. http://dx.doi.org/10.15607/rss.2017.xiii.030.

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Guerrero, M. E., D. A. Mercado, R. Lozano, and C. D. Garcia. "IDA-PBC methodology for a quadrotor UAV transporting a cable-suspended payload." In 2015 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2015. http://dx.doi.org/10.1109/icuas.2015.7152325.

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Alothman, Yaser, and Dongbing Gu. "Using Constrained NMPC to Control a Cable-Suspended Payload With Two Quadrotors." In 2018 24th International Conference on Automation and Computing (ICAC). IEEE, 2018. http://dx.doi.org/10.23919/iconac.2018.8749093.

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Prajapati, Pratik, Sagar Parekh, and Vineet Vashista. "Collaborative Transportation of Cable-Suspended Payload using Two Quadcopters with Human in the loop." In 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 2019. http://dx.doi.org/10.1109/ro-man46459.2019.8956380.

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Prajapati, Pratik, Sagar Parekh, and Vineet Vashista. "On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System." In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9197279.

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Godbole, Ameya R., and Kamesh Subbarao. "Mathematical Modeling and Control of an Unmanned Aerial System with a Cable Suspended Payload." In 2018 IEEE 14th International Conference on Control and Automation (ICCA). IEEE, 2018. http://dx.doi.org/10.1109/icca.2018.8444279.

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