Abstract
This work addresses the kinematics of 3-D towing where multiple aerial robots are used to cooperatively transport a payload using cables. In 3-D towing, it is important to determine the relative positions of the robots for the desired position and orientation of the payload. This is actually the inverse kinematics problem of the 3-D towing. In the case with three robots, when the tensions are given, the inverse kinematics problem has finite number of solutions. In order to obtain all possible solutions, an efficient analytic algorithm based on dialytic elimination is presented. An example is used for illustration.
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Jiang, Q., Kumar, V. (2010). The Inverse Kinematics of 3-D Towing. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_34
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DOI: https://doi.org/10.1007/978-90-481-9262-5_34
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