Motion planning and control of gantry cranes in cluttered work environment

Blajer, Wojciech; Kołodziejczyk, K.

doi:10.1049/iet-cta:20060439

Cited by 66 publications

(40 citation statements)

References 20 publications

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“…As before, the outer loop (the feedback controller part) is achieved by replacing in DAEs (15) and (18) the specified accelerationsÿ withÿ stab introduced in (8), which is efficient in the case of orthogonal realization of servo-constraints. With limited efficiency, the feedback controller was also used for tracking servo-constraints which are realized in the tangential way [5,7,26]. In this case, however, the error dynamics have a higher order, and higher-order derivatives of the output errors should be involved in order to assure asymptotic convergence of the tracking error to zero.…”

Section: Reduced-index Daes For Any Realization Of Servo-constraintsmentioning

confidence: 99%

“…Finally, the servo-constraint problems for the cases of mixed orthogonal-tangential and pure tangential realizations of servo-constraints may be flat or non-flat. For instance, differentially flat are servo-constraint problems for cranes executing a load prescribed motion [5,7,26,27] and for aircrafts in prescribed trajectory flight [28], both characterized by mixed orthogonal-tangential realization of servo-constraints. Differentially flat is also the trajectory tracking problem for flexible joint manipulators [16,29], with pure tangential realization of the servo-constraints.…”

Section: Possible Differential Flatness Of the Servo-constraint Problemmentioning

confidence: 99%

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Servo-constraint realization for underactuated mechanical systems

2015

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The paper deals with underactuated mechanical systems, featured by less control inputs m than degrees of freedom f , m < f , subject to m servo-constraints (specified in time outputs) on the system. The arising servo-constraint problem (inverse dynamics analysis) is discussed with an emphasis on the way the servo-constraints are realized, varying from orthogonal to tangential, and a geometrical illustration of the different realization types is provided. Depending on the way the servo-constraints are realized, the governing equations are formulated either as ordinary differential equations (ODEs) or differential-algebraic equations (DAEs), and some computational issues for the ODEs and DAEs are discussed. The existence or non-existence of an explicit solution to the governing equations is further discussed, related to so-called differentially flat problems (without internal dynamics) and non-flat problems (with internal dynamics). It is shown that in case of non-flat problems with orthogonal realization of servo-constraints, stability of the internal dynamics must be assured. Simple case studies are reported to illustrate the proposed formulations and methodologies.

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Section: Reduced-index Daes For Any Realization Of Servo-constraintsmentioning

confidence: 99%

Section: Possible Differential Flatness Of the Servo-constraint Problemmentioning

confidence: 99%

Servo-constraint realization for underactuated mechanical systems

2015

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“…Such procedures for the load motion planning, patterned on the propositions posed in [18], were described in detail in [19].…”

Section: Modeling Preliminariesmentioning

confidence: 99%

“…The flatness-based solutions of (25), especially those for v d (t) and u d (t), are featured by enormous complexity, and, as such, they may be considered as impractical in applications. Using the governing index-three DAEs in the form of (19), and solving them numerically is much more straightforward and applicable. The solution methodology proposed in [5] can directly be applied to the present DAEs.…”

Section: Solution Codesmentioning

confidence: 99%

Improved DAE formulation for inverse dynamics simulation of cranes

Blajer

Kołodziejczyk

2010

Multibody Syst Dyn

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Cranes are underactuated systems with less control inputs than degrees of freedom. Dynamics and control of such systems is a challenging task, and the existence of solution to the inverse dynamics simulation problem in which an r-degree-of-freedom system with m actuators, m < r, is subject to m specified motion task (servo-constraints) is conditioned upon the system is differentially flat (all the system states and control inputs can be algebraically expressed in terms of the outputs and their time derivatives up to a certain order). The outputs are often designed as specified in time load coordinates to model a rest-to-rest maneuver along a trajectory in the working space, from the initial load position to its desired destination. The flatness-based methodology results then in the required control inputs determined in terms of the fourth time derivatives of the imposed outputs, and the derivations are featured by substantial complexity. The DAE formulation motivated in this contribution offers a more convenient approach to the prediction of dynamics and control of cranes executing prescribed load motions, and only the second time derivatives of the specified outputs are involved. While most of the inverse simulation formulations, both flatness-based and DAE ones, are performed using independent state variables, the use of dependent coordinates and velocities may lead to substantial modeling simplifications and gains in computational efficiency. An improved DAE formulation of this type is presented in this paper.

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“…Here motion planning means the trajectory design of trolley velocity and acceleration, which are regarded as control inputs (or states) of the crane system with velocity-driven or force-driven trolley. Unlike the inverse methods to control the stability of tracking the reference of outputs [4,5], optimal control is a useful method to design the profile of control inputs with certain optimal performance index, such as time efficiency and swing angle. Optimal design of the transportation trajectory not only improves the control performance in terms of efficiency or safety, but also releases some pressure on control for the sequential strategy.…”

Section: Introductionmentioning

confidence: 99%

Optimal motion planning for overhead cranes

Xia

2014

IET Control Theory & Applications

147

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Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration, and jerk. Besides the energy optimal model, we also propose two other models to optimize time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety respectively.

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Motion planning and control of gantry cranes in cluttered work environment

Cited by 66 publications

References 20 publications

Servo-constraint realization for underactuated mechanical systems

Servo-constraint realization for underactuated mechanical systems

Improved DAE formulation for inverse dynamics simulation of cranes

Optimal motion planning for overhead cranes

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