Robotics: Science and Systems XX

A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Cranes

Javier Puig-Navarro, Dominic R Bisio, John E Pye, Yotam Granov, Joshua N Moser, Jessica S. Friz, Walter J Waltz, Julia E Cline, B. Danette Allen

Abstract:

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

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Bibtex:

  
@INPROCEEDINGS{Puig-Navarro-RSS-24, 
    AUTHOR    = {Javier Puig-Navarro AND Dominic R Bisio AND John E Pye AND Yotam Granov AND Joshua N Moser AND Jessica S. Friz AND Walter J Waltz AND Julia E Cline AND B. Danette Allen}, 
    TITLE     = {{A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Cranes}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2024}, 
    ADDRESS   = {Delft, Netherlands}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2024.XX.111} 
}