| Autor: |
Chen, Qingrong, Yu, Siyang, Cheng, Wenming, Zhang, Mao, Liu, Jiahui, Gao, Lingchong, Du, Run, Yan, Wei |
| Předmět: |
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| Zdroj: |
Asian Journal of Control; Jul2023, Vol. 25 Issue 4, p2934-2946, 13p |
| Abstrakt: |
The trajectory planning problem with state constraints of overhead crane systems is considered in this paper. A new method, that is, an inverse motion planning method, is proposed. On this basis, a new trajectory planner is designed. The payload swing angle trajectory is designed first, and then by substituting it into the dynamic equations, the trolley trajectory is derived. For any transportation tasks, the adjustable parameter of the planner is computed by solving the state constraints such that the system states; that is, the trolley acceleration, trolley speed, and payload swing angle will not exceed their predefined constraints. Several experimental tests are conducted to verify the swing elimination performance of the proposed method. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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