DocumentCode
1870733
Title
Modelling and control of two co-operating planar cranes
Author
Souissi, R. ; Koivo, A.J.
Author_Institution
Sch. of Electr. Eng., Purdue Univ., W. Lafayette, IN, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
957
Abstract
A dynamical model is developed for the closed chain motion of two rotary cranes holding a rigid object in a two-dimensional workspace. The system is treated as a six-bar linkage, and the kinematic and dynamic constraints are determined. These constraints are used to obtain the equations of motion in the system. A proportional, integral, and derivative (PID) controller is designed so that the object is moved from its initial position to the specified destination. Computer simulations of the entire system are performed to illustrate the performance of the designed controller
Keywords
control system CAD; kinematics; manipulators; three-term control; PID controller; closed chain motion; co-operating planar cranes; dynamic constraints; dynamical model; kinematic constraints; rotary cranes; six-bar linkage; specified destination; two-dimensional workspace; Automatic control; Couplings; Cranes; Equations; Kinematics; Linear feedback control systems; Manipulator dynamics; Robotics and automation; Robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292267
Filename
292267
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