DocumentCode :
2080124
Title :
Motion planning for overhead cranes based on iterative strategy
Author :
Sun Ning ; Fang Yongchun ; Ma Bojun
Author_Institution :
Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China
fYear :
2010
fDate :
29-31 July 2010
Firstpage :
326
Lastpage :
331
Abstract :
An iterative-strategy-based motion planning scheme for overhead cranes is proposed in this paper. First of all, an S reference trajectory is chosen according to practical constraints and operating experiences, for which an anti-swing component is introduced based on the kinematic equation of overhead cranes; subsequently, an ideal trajectory, whose stability is proved by Lyapunov techniques, is planned based on a novel iterative strategy; finally, some simulation is implemented for the planned trajectory to show that it can accurately position the trolley as well as effectively suppress the swing of the payload.
Keywords :
Lyapunov matrix equations; cranes; iterative methods; path planning; position control; Lyapunov technique; S reference trajectory; antiswing component; iterative strategy; kinematic equation; motion planning; overhead crane; payload swing; trolley; Cranes; Electronic mail; Equations; Kinematics; Mathematical model; Planning; Trajectory; Anti-Swing Design; Iterative Strategy; Motion Planning; Overhead Crane;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
Type :
conf
Filename :
5572388
Link To Document :
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