This project, in the Small Grants for Exploratory Research mode, is a preliminary exploration of autonomous cable-suspended mobile manipulators and platforms. While there has been some work on automated cranes, there is a need to develop a systematic approach to achieving a fundamental understanding of the dynamics of such a setup, for potential uses in construction and other field robotics settings, as well as in heavy manufacturing. The problems are nontrivial, and this initial exploration will help to develop a convincing case for a full-scale research effort in the future. The preliminary study will yield an experimental testbed and preliminary results that should give the investigators a better idea of what should be involved in a more systematic plan of attack for developing position and orientation control of suspended platforms.
