摇摆
有效载荷(计算)
弹道
加速度
桥式起重机
控制理论(社会学)
规划师
国家(计算机科学)
架空(工程)
计算机科学
运动规划
反向
逆动力学
逆系统
工程类
机器人
数学
运动学
算法
控制(管理)
人工智能
物理
机械工程
计算机网络
几何学
结构工程
经典力学
天文
网络数据包
操作系统
作者
Qingrong Chen,Siyang Yu,Wenming Cheng,Mao Zhang,Jiahui Liu,Lingchong Gao,Run Du,Wei Yan
摘要
Abstract The trajectory planning problem with state constraints of overhead crane systems is considered in this paper. A new method, that is, an inverse motion planning method, is proposed. On this basis, a new trajectory planner is designed. The payload swing angle trajectory is designed first, and then by substituting it into the dynamic equations, the trolley trajectory is derived. For any transportation tasks, the adjustable parameter of the planner is computed by solving the state constraints such that the system states; that is, the trolley acceleration, trolley speed, and payload swing angle will not exceed their predefined constraints. Several experimental tests are conducted to verify the swing elimination performance of the proposed method.
科研通智能强力驱动
Strongly Powered by AbleSci AI