NDLI: Trajectory planning for overhead crane by trolley acceleration shaping

Content Provider	Springer Nature Link
Author	Hoang, Nguyen Quang Lee, Soon Geul Kim, Hyung Moon, Sang Chan
Copyright Year	2014
Abstract	This paper proposes a novel off-line trolley trajectory planning method for underactuated overhead cranes. The proposed technique is feasible and efficient for overhead crane operation. Dynamic coupling between trolley motion and payload swing was successfully exploited using a staircase form of trolley acceleration. The payload swings in the constant velocity phase were efficiently suppressed and the trolley reached the desired position using this technique. The reasonable number of stairs can be determined by evaluating the residual oscillation amplitude according to the number of stairs and variation in the natural frequency of the pendulum. The proposed approach was first simulated from the kinematics viewpoint to verify the validity of the trolley trajectory and the swing angle of the payload. The proposed approach was then combined with the dynamics of the overall crane, wherein the robust sliding mode controller was applied to ensure that the trolley tracks the designed trajectory. The numerical simulation results demonstrated superior performance and robustness against parameter uncertainties of the proposed method. The proposed method exhibited potential for application in the control of underactuated systems, such as overhead cranes, single-link flexible-joint manipulators, and flexible Cartesian manipulators.
Starting Page	2879
Ending Page	2888
Page Count	10
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	28
Issue Number	7
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2014-07-24
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Underactuated system Overhead cranes Anti-swing trajectory planning Acceleration shaping Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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