Abstract:In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables.We develop robot configurations that ensure static equilibri...In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables.We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations.We demonstrate our methods on a team of aerial robots via simulation and experimentation.Read More