一种直接基于摆角约束的欠驱动桥式吊车轨迹规划方法

王鹏程; 方勇纯; 江紫亚

doi:10.3724/SP.J.1004.2014.02414

一种直接基于摆角约束的欠驱动桥式吊车轨迹规划方法

doi: 10.3724/SP.J.1004.2014.02414

1.
南开大学机器人所天津 300071;
2.
中国科学院沈阳自动化研究所沈阳 110016

基金项目:

Supported by National Natural Science Foundation of China (61325017, 11372144), and the National Science and Technology Pillar Program of China (2013BAF07B03)

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- 被引次数: 0
出版历程
- 收稿日期: 2013-08-12
- 修回日期: 2014-02-17
- 刊出日期: 2014-11-20

A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

1.
Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin 300071, China;
2.
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China;

Funds:

Supported by National Natural Science Foundation of China (61325017, 11372144), and the National Science and Technology Pillar Program of China (2013BAF07B03)

摘要

摘要: 针对非线性桥式吊车系统,本文提出了一种新颖的基于摆角约束的轨迹规划方法.为了提高运送过程的效率和安全性,论文设计了期望轨迹以实现如下优点: 1)使台车很快到达目标位置; 2)将负载摆角抑制到可接受的范围之内; 3)当负载在目标位置停止时无残余摆动.具体而言,所设计的轨迹由三个阶段构成,每一阶段均根据抗摆和零残余摆角的要求来构造摆角曲线,在此基础上,利用桥式吊车的非线性运动学方程分析得到台车轨迹.论文引入了一种优化机制对运送时间,最大摆角等指标进行折衷考虑.文中通过仿真和实验结果表明了所设计的直接基于摆角约束的轨迹规划方法的性能.
- 轨迹规划 /
- 桥式吊车 /
- 摆角 /
- 优化 /
- 非线性运动学
Abstract: 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.
- Trajectory planning /
- overhead cranes /
- swing /
- optimization /
- nonlinear kinematics

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参考文献(18)

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