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About this paper
Harvey Merton, Ian W. Hunter
The authors model multi-quadrotor cable transport with cables made of inertial rigid links, enabling a rigid-body simulator to solve the dynamics. They test a tuned model against flights in circle, harmonic-motion, and tension-engagement maneuvers. For the load during harmonic motion, translation and orientation errors are 118.5 mm and 11.4°; tension engagement shows 17.2° orientation error and a height spike.
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