An Analytical Trajectory Planning Method for Underactuated Overhead Cranes with Constraints

摘要：

　　In this paper,an analytical acceleration trajectory planning approach with constraints is proposed for underactuated overhead cranes.The allowable maximum velocity and acceleration of the physical system are taken into account,the payload swing is guaranteed to be under the preset amplitude during movement,and the transportation time can be estimated in advance.Specifically,by solving the inhomogeneous differential equation of the kinematic model,we analyze the coupling behavior of the cart motion and the payload swing,and provide the analytical expression between the payload swing and the cart acceleration.Subsequently,an analytical acceleration trajectory is proposed by introducing some smooth functions into the existing three-segment acceleration trajectory.The performance of the proposed trajectory is proven by rigorous mathematical analysis.Numerical simulation results are included to demonstrate the effectiveness of the proposed motion planning method.

关键词： Overhead Crane Trajectory Planning Underactuated System

作者: WU Xianqing HE Xiongxiong SUN Ning

作者单位: College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China Institute of Robotics and Automatic Information System,Nankai University,Tianjin 300071,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1966-1971

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）