有效载荷(计算)
摇摆
弹道
桥式起重机
运动学
控制理论(社会学)
架空(工程)
计算机科学
联轴节(管道)
李雅普诺夫函数
控制工程
工程类
人工智能
物理
控制(管理)
经典力学
结构工程
机械工程
计算机网络
非线性系统
天文
量子力学
网络数据包
操作系统
作者
Ning Sun,Yongchun Fang,Yudong Zhang,Bojun Ma
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2012-02-01
卷期号:17 (1): 166-173
被引量:189
标识
DOI:10.1109/tmech.2010.2103085
摘要
Motivated by the desire to achieve smooth trolley transportation and small payload swing, a kinematic coupling-based off-line trajectory planning method is proposed for 2-D overhead cranes. Specifically, to damp out unexpected payload swing, an antiswing mechanism is first introduced into an S-shape reference trajectory based on rigorous analysis for the coupling behavior between the payload and the trolley. After that, the combined trajectory is further tuned through a novel iterative learning strategy, which guarantees accurate trolley positioning. The performance of the proposed trajectory is proven by Lyapunov techniques and Barbalat's lemmas. Finally, some simulation and experiment results are provided to demonstrate the superior performance of the planned trajectory.
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