During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winchbased actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.

翻译：在运行过程中，空中操纵系统会受到多种扰动的影响，其中包括由机械臂自重引起的重力矩。传统的螺旋桨驱动方式因可能出现过热及高能耗问题，难以有效应对此类扰动。为解决该问题，本文提出了一种适用于起重机固定式缆索悬挂空中机械臂的绞车驱动方案。通过三根由绞车控制的悬吊索具产生期望的缆索张力分布，进而生成可削弱重力矩影响的力旋量。为实现机械臂与绞车驱动机构的协同控制，本文采用了一种基于模型的分层全身控制器。该控制器需完成两项任务：维持机械臂末端执行器在期望位姿，以及将系统质心调整至重力矩为零的位置。通过实验研究验证了所提出驱动系统及控制策略的性能。