Trajectory Planning and Control of Overhead Cranes in the Work Environment with Obstacles
نویسندگان
چکیده
Abstract. Manipulating payloads with cranes can be challenging due to undesirable load pendulations induced by the crane motion and external perturbations. The problem gets increasingly difficult when the work environment is cluttered with obstacles. Automatic control schemes offer a high potential of rationalization. In this paper a methodology of constructing appropriate load trajectories allowing for one coordinated maneuver that omits the obstacles is addressed. The developed formulation leads then to the analysis of crane dynamics and synthesis of control in the specified motion. Some results of numerical simulations are reported.
منابع مشابه
Application of Independent Joint Control Strategy for Discrete-Time Servo Control of Overhead Cranes
In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...
متن کاملOptimal motion planning for overhead cranes
Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhea...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کاملAdaptive Tracking Control for an Overhead Crane System
This paper proposes an adaptive control method for an underactuated overhead crane system. To improve the transferring efficiency and enhance the security of the crane system, the trolley is required to reach the desired position as fast as possible, while the swing of payload needs to be within an acceptable domain. To achieve these objectives, a novel twostep design strategy consisting of a t...
متن کاملCentralized Path Planning for Multi-aircraft in the Presence of Static and Moving Obstacles
This article proposes a new approach for centralized path planning of multiple aircraft in presence of the obstacle-laden environment under low flying rules. The problem considers as a unified nonlinear constraint optimization problem. The minimum time and control investigate as the cost functions and the maximum velocity and power consider as the constraints. The pseudospectral method applies ...
متن کامل