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题名:
A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes
作者: Wang PC(王鹏程); Fang YC(方勇纯); Jiang ZY(江紫亚)
作者部门: 机器人学研究室
关键词: Trajectory planning ; overhead cranes ; swing ; optimization ; nonlinear kinematics
刊名: 自动化学报
ISSN号: 0254-4156
出版日期: 2014
卷号: 40, 期号:11, 页码:2414-2419
收录类别: EI ; CSCD
EI收录号: 20145100353718
CSCD记录号: CSCD:5282683
产权排序: 3
摘要: This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.
语种: 英语
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15495
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Wang PC,Fang YC,Jiang ZY. A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes[J]. 自动化学报,2014,40(11):2414-2419.
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文件名: A direct swing constraint-based trajectory planning method for underactuated overhead cranes.pdf
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