dc.creator | Ago, Giancarlo D´ | es |
dc.creator | Selvaggio, Mario | es |
dc.creator | Suárez Fernández-Miranda, Alejandro | es |
dc.creator | Gañán Onieva, Francisco Javier | es |
dc.creator | Buonocore, Luca Rosario | es |
dc.creator | Castro, Mario Di | es |
dc.creator | Lippiello, Vincenzo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.creator | Ruggiero, Fabio | es |
dc.date.accessioned | 2024-02-20T16:24:07Z | |
dc.date.available | 2024-02-20T16:24:07Z | |
dc.date.issued | 2024-05 | |
dc.identifier.citation | Ago, G.D., Selvaggio, M., Suárez Fernández-Miranda, A., Gañán Onieva, F.J., Buonocore, L.R., Castro, M.D.,...,Ruggiero, . (2024). Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems. Robotics and Autonomous Systems, 175 (104643). https://doi.org/10.1016/j.robot.2024.104643. | |
dc.identifier.issn | 0921-8890 | es |
dc.identifier.uri | https://hdl.handle.net/11441/155390 | |
dc.description.abstract | This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic chain and lends itself to be simulated through the most commonly used robotic simulators without explicitly account for the cables constraints and flexibility. Moreover, a dynamic parameters identification procedure is devised to improve the simulation model fidelity and reduce the sim-to-real gap for controllers deployment. We show the capability of our model to handle different cable configurations and suspension mechanisms by customising it for two representative cable-suspended dual-arm manipulation systems: the LiCAS arms suspended by a drone and the CRANEbot system, featuring two Pilz arms suspended by a crane. The identified dynamic models are validated by comparing their evolution with data acquired from the real systems showing a high (between 91.3% to 99.4%) correlation of the response signals. In a comparison performed with baseline pendulum models, our model increases the simulation accuracy from 64.4% to 85.9%. The simulation environment and the related controllers are released as open-source code. | es |
dc.format | application/pdf | es |
dc.format.extent | 10 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | Robotics and Autonomous Systems, 175 (104643). | |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | Robotics in Hazardous fields | es |
dc.subject | Aerial systems | es |
dc.subject | Applications | es |
dc.title | Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems | es |
dc.type | info:eu-repo/semantics/article | es |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | EU H2020 871479 | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0921889024000265 | es |
dc.identifier.doi | 10.1016/j.robot.2024.104643 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Robotics and Autonomous Systems | es |
dc.publication.volumen | 175 | es |
dc.publication.issue | 104643 | es |
dc.contributor.funder | Unón Europea, Horizon 2020 | es |