| Popis: |
For a crane manipulator suspending a flexible plate by four chains feedforward control is derived that moves the payload along desired spatial trajectories. Due to the statically indeterminate suspension, the stiffness of the payload has to be taken into account. The actuator coordinates can be algebraically calculated from the desired trajectory of the plate at the position, velocity and acceleration levels exploiting the flatness property of the system. As the system is kinematically redundant, technically meaningful solutions like minimal inclination angles of the chains are determined by optimisation. |
