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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Agostini, M.J. Parker, G.G. Kruse, E.E. Schaub, H. Groom, K. Robinett, R.D. |
| Copyright Year | 2001 |
| Description | Author affiliation: Dept. of Mech. Eng. & Eng. Mech., Michigan Technol. Univ., Houghton, MI, USA (Agostini, M.J.) |
| Abstract | This paper considers the generation of open-loop inputs for multiple axis, swing-free movement of crane payloads. A particular crane is considered having a geometry that results in payload dynamic equations that are nonaffine in the crane inputs. Unlike previously considered systems with affine in the input swing dynamic equations, a closed form, symmetric solution is not generally available. Therefore, a basis function optimization process is used to generate the crane input time histories given the initial and desired final configurations. Of particular interest is the effect of the nonideal joint-level servo dynamics. Using an experimentally verified crane simulation, residual swing is shown to be virtually eliminated when nonideal joint dynamics are considered. When these phenomenon are neglected during the maneuver generation process the final residual swing suffers. In addition, the total maneuver time can be shortened by exploiting the known actuator saturation behavior. |
| Sponsorship | American Autom. Control Council |
| Starting Page | 287 |
| Ending Page | 292 |
| File Size | 454754 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780364953 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2001.945557 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2001-06-25 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Cranes Payloads History Actuators Solar power generation Acceleration Geometry Equations Laboratories Servomechanisms |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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