Flatness-Based Feedforward Control of a Crane Manipulator with Four Load Chains

Stoltmann, Michael; Froitzheim, Pascal; Fuchs, Normen; Woernle, Christoph

doi:10.1007/978-3-319-98020-1_8

Cited by 5 publications

(2 citation statements)

References 6 publications

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“…In comparison to the flatness-based approach described in refs. [2,24], the inertial forces and the generalised gyroscopic forces are neglected, since the sway dynamics of the payload are compensated by the multi-mode input shaper.…”

Section: Generalised Inverse Kinematicsmentioning

confidence: 99%

“…In many production fields, overhead or tower cranes allow the reliable manipulation of heavy payloads in large workspaces. In order to extend the abilities of cranes, especially with respect to rotation of the payload, for example, for manufacturing or assembly tasks in aircraft construction or shipbuilding, further development of cranes to multi-cable suspension manipulators have proven to be advantageous [1,2]. Through coordinated movements of all actuators, not only the position but also the orientation of the payload can be precisely controlled.…”

Section: Introductionmentioning

confidence: 99%

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Input shaping control of a three‐cable suspension manipulator

Hildebrandt,

Stirnweiß,

Woernle

2023

Proc Appl Math and Mech

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A multi‐cable suspension manipulator moves a heavy payload through a large workspace by several spatially arranged cables with winches mounted on a crane system. All actuators are independently controllable to achieve a desired position and orientation of the payload with six degrees of freedom in space. As the payload is not fully constrained by the length of the cables, undesired load sway occurs. To transition the payload between predefined stationary equilibrium points, a feedforward control concept based on the input shaping method is presented. For the determination of the natural frequencies and damping ratios required for the design of an input shaper, a nonlinear dynamic model is linearised around a varying equilibrium point by an efficient procedure. The occurring kinematic actuator redundancy is resolved by optimisation. Experimental results from the prototype three‐cable suspension manipulator Cablev confirm the effectiveness of the approach.

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Section: Generalised Inverse Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%