NDLI: A novel optimal trajectory planning method for overhead cranes with analytical expressions

Content Provider	IEEE Xplore Digital Library
Author	Chen He Fang Yongchun Sun Ning
Copyright Year	2014
Description	Author affiliation: Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China (Chen He; Fang Yongchun; Sun Ning)
Abstract	In this paper, we present a novel time-optimal off-line trajectory planning method with an analytical expression for 2-dimensional (2-D) underactuated overhead cranes. Different from existing methods that analyze the coupling behavior directly, a flat output of this system is constructed to deal with the coupling between the payload swing and trolley motion, based on the differential flatness theory. Next, considering the continuity and smoothness characteristics of B-splines, the trajectory is parameterized to a B-spline curve with unknown parameters to be optimized. Various constraints, including lower and upper swing angle bounds and allowable trolley acceleration, are taken into consideration to optimize the parameters using a polynomial based scheme. Finally, some simulation and experiment results are given to illustrate the satisfactory performance of the proposed method.
Starting Page	7953
Ending Page	7958
File Size	162338
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896329
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Couplings Cranes Time-optimal Trajectory Planning Trajectory Planning B-spline Curve Splines (mathematics) Differential Flatness Optimization Payloads
Content Type	Text
Resource Type	Article

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