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
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292267
