A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes
文献类型：期刊论文
| 作者 | Wang PC(王鹏程); Fang YC(方勇纯); Jiang ZY(江紫亚) |
| 刊名 | 自动化学报
 |
| 出版日期 | 2014 |
| 卷号 | 40期号:11页码:2414-2419 |
| 关键词 | Trajectory planning overhead cranes swing optimization nonlinear kinematics |
| ISSN号 | 0254－4156 |
| 产权排序 | 3 |
| 中文摘要 | This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method. |
| 收录类别 | EI ; CSCD |
| 资助信息 | National Natural Science Foundation of China (61325017, 11372144), and the National Science and Technology Pillar Program of China (2013BAF07B03) |
| 语种 | 英语 |
| 公开日期 | 2015-01-09 |
| 源URL | [http://ir.sia.cn/handle/173321/15495]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang PC,Fang YC,Jiang ZY. A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes[J]. 自动化学报,2014,40(11):2414-2419. |
| APA | Wang PC,Fang YC,&Jiang ZY.(2014).A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes.自动化学报,40(11),2414-2419. |
| MLA | Wang PC,et al."A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes".自动化学报 40.11(2014):2414-2419. |
入库方式： OAI收割
来源：沈阳自动化研究所
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