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• W2291795524 abstract "WANG Peng-Cheng 1; 2 FANG Yong-Chun 1; 2 JIANG Zi-Ya 3 Abstract This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the e-ciency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination su-ciently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Speciflcally, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct istics of the cranes, these requirements are usually incom- patible with each other. For example, high transportation e-ciency involves a large trolley velocity and acceleration, which usually tends to cause a large swing angle. There- fore, the desired trajectories need to make compromises between these indices. Additionally, when planning tra- jectories, practical conditions, such as the constraints on the magnitudes/directions of velocity and acceleration of the cart, need to be taken into account carefully to make the constructed trajectory trackable. Consequently, some optimization algorithm is introduced to generate the tra- jectories for the trolley which regulate the payload swing promptly. Additionally, some kinds of path planner, along with tracking controllers, are also invited for underactuated overhead cranes (13i14) . Though the trajectory planning problem of overhead cranes has attracted considerable attention (15) , it needs to point out that the existing results are usually based on the linearized model and they can not tackle the aforemen- tioned indices e-ciently. In this research, a novel motion planning strategy directly based on the requirements of the payload swing is designed to enhance the operation perfor- mance. Speciflcally, based on the nonlinear model of an overhead crane, the swing trajectory of the payload is se- lected to meet the requirements of fast transportation and zero residual swing, with the impact of cable length vari- ation fully considered. Based on the swing curve of the payload, the nonlinear model of overhead cranes is then employed to calculate the trajectory of the cart. To in- crease the ∞exibility of the trajectories, some optimization function is deflned to intelligently tune the parameters of the trajectory to meet the requirements for difierent trans- portation tasks, and the powerful particle swarm optimiza- tion algorithm (PSO) is utilized to solve this nonlinear op- timization problem with practical constraints. Compared with currently available methods, the proposed trajectory planning method presents the following two merits: flrstly, it generates an ideal trajectory based on the accurate non- linear model without any approximation; secondly, by di- rectly considering the constraints on the payload swing, it constructs the swing proflle of the payload, based on which the trajectory of the cart is then calculated by utilizing the kinematics of the studied crane system. The rest of the paper is organized in the following man-" @default.
• W2291795524 created "2016-06-24" @default.
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• W2291795524 date "2014-01-01" @default.
• W2291795524 modified "2023-09-23" @default.
• W2291795524 title "A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes" @default.
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