2021
DOI: 10.1109/access.2021.3050258
|View full text |Cite
|
Sign up to set email alerts
|

A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance

Abstract: For a crane system, when the payload is too large to be seen as a mass point, or the hook mass cannot be directly ignored, it performs more like a double-pendulum crane system, instead of a single-pendulum crane system. Due to many factors, the working environment of the industrial crane system is complex. Obstacles sometimes appear in the movement path of the payload, which affects the normal operation of the crane system and may cause accidents like collisions. To handle this issue, we propose a time optimal… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
3
2

Citation Types

0
8
0

Year Published

2022
2022
2024
2024

Publication Types

Select...
7

Relationship

0
7

Authors

Journals

citations
Cited by 15 publications
(11 citation statements)
references
References 34 publications
0
8
0
Order By: Relevance
“…It is obviously not enough to solve m + 5 control vertices with m + 1 equations, so 4 additional boundary conditions need to be added: set the initial point velocity and acceleration as v 0 and a 0 , respectively, and the end point velocity and acceleration as v f and a f , respectively. Combine formula (22) to get: Q (1) j N j,4 t 5 􏼁,…”
Section: Mathematical Problems In Engineeringmentioning
confidence: 99%
See 2 more Smart Citations
“…It is obviously not enough to solve m + 5 control vertices with m + 1 equations, so 4 additional boundary conditions need to be added: set the initial point velocity and acceleration as v 0 and a 0 , respectively, and the end point velocity and acceleration as v f and a f , respectively. Combine formula (22) to get: Q (1) j N j,4 t 5 􏼁,…”
Section: Mathematical Problems In Engineeringmentioning
confidence: 99%
“…T. e control vertex vector can be obtained by the above formula and then the motion trajectory of each joint and the expression of the speed, acceleration, and jerk of each joint can be obtained according to formulas (17) and (22).…”
Section: Mathematical Problems In Engineeringmentioning
confidence: 99%
See 1 more Smart Citation
“…It is widely utilized in various industries, including hydroelectric power plants, shipyards, and freight ports, for the precise and effective transportation of materials (Shi et al, 2023; Sun et al, 2019; Tan et al, 2021). However, given the complicated working environment of automated lifting robots, there will unavoidably be obstacles (e.g., containers) in the movement path, which are prone to causing major safety accidents if not probably controlled (Zhang et al, 2021). As an underactuated system with quantities of degrees of freedom higher than the independent input variables of the system (Shi et al, 2019), the trolley is prone to severe load swings during the movement process, which to some extent affects the load's avoidance effect, positioning accuracy, and transportation efficiency.…”
Section: Introductionmentioning
confidence: 99%
“…Peng et al 10 proposed an uncertain estimation-and-optimization strategy for motion planning of overhead cranes, and numerical examples show that the proposed strategy can obtain high precision motion planning schemes with a reasonable computational cost. Zhang et al 11 proposed a time optimal trajectory planning method for the double-pendulum crane system to avoid obstacles and simulation results demonstrated that it can improve the safety of the crane system and the transportation efficiency during the entire working process.…”
Section: Introductionmentioning
confidence: 99%