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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes
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
发表期刊自动化学报
ISSN0254-4156
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
资助机构National Natural Science Foundation of China (61325017, 11372144), and the National Science and Technology Pillar Program of China (2013BAF07B03)
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
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15495
专题机器人学研究室
通讯作者Fang YC(方勇纯)
作者单位1.Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin , China
2.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
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.
APA Wang PC,Fang YC,&Jiang ZY.(2014).A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes.自动化学报,40(11),2414-2419.
MLA Wang PC,et al."A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes".自动化学报 40.11(2014):2414-2419.
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