Falkenberg, OleOleFalkenbergWeltin, UweUweWeltin2019-11-212019-11-212017ACM International Conference Proceeding Series (Part F128050): 48-52 (2017-02-08)http://hdl.handle.net/11420/3843In this paper we address the cooperative manipulation and transportation of a payload by multiple aerial robots in 3- dimensional space. We modeled the multi-robot system (MRS) as a parallel kinematic manipulator (PKM) using screw theory and formulate its kinematic equations and conditions for static equilibrium. The PKM is formed by the payload and groups of robots rigidly attached to the payload, which can be regarded as virtual legs. Using the PKM, we present a hybrid coordination framework with a hierarchical structure, based on a centralized inter-group manipulation at top level and a distributed intra-group manipulation at lower level. The former solves the direct kinematics of the PKM in a centralized manner and the latter consists of a distributed formation control within a virtual leg. We present simulation results which verify the presented coordination framework.enCooperative controlCooperative manipulationDistributed roboticsMulti-robot systemsTechnikConference Paper10.1145/3068796.3068811Other