“Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation”Authors: Mikkel Pedersen, Michael Rygaard Hansen and Morten BallebyeAffiliation: Aalborg University, Dept. of Mech. Engineering, DK-9220, Aalborg Ø, Denmark. University of Agder, Dept. of Engineering, NO-4876, Grimstad, Norway. Højbjerg Maskinfabrik A/S, Oddervej 200, DK-8720 Højbjerg, Denmark. Reference: 2010, Vol. 31, No. 4, pp. 133-143. |
|
Keywords: Interactive real-time dynamic simulation, hydraulic crane, tool point control.
Abstract: This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme is developed for the specific crane, considering the saturation phenomena of the system and practical implementation.
PDF (596 Kb)
DOI: 10.4173/mic.2010.4.2
Currently no DOI forward links to this article
References:
[1] Beiner, L. Minimum force redundancy control of hydraulic cranes. Mechatronics, 1997. 7(6):537--547. doi:10.1016/S0957-4158(97)00020-2.
[2] Beiner, L. and Mattila, J. An improved pseudoinverse solution for redundant hydraulic manipulators. Robotica, 1999. 17:173--179. doi:10.1017/S0263574799001216.
[3] Chan, T.F. and Dubey, R.V. A weighted least-norm solution based scheme for avoiding joint limits for redundant manipulators. Robotics and Automation, 1993. 3:395--402.
[4] Ebbesen, M.K. Optimal Design of Flexible Multibody Systems. PhD Thesis, Aalborg University, Denmark, 2007.
[5] Esqué, S., Raneda, A., and Ellman, A. Techniques for studying a mobile hydraulic crane in virtual reality. Int J Fluid Power, 2003. 4(2):25--34.
[6] Hansen, M.R. and Andersen, T.O. A method for deriving the optimal operation of mobile hydraulic manipulators. In Proc 9th Scandinavian International Conference on Fluid Power, SICFP'05. Linköping, Sweden, 2005.
[7] Kabus, S. and Haastrup, M. Simulations of Flexible Loader Crane with Designed Tool Point Control. Masters Thesis, Aalborg University, Denmark, 2008.
[8] Krus, G. and Palmberg, J.O. Vector control of a hydraulic crane. In Proc International Off-Highway and Power plant Congress and Exposition. Milwaukee, USA, 1992.
[9] Linjama, M. and Virvalo, T. State-space model for control design of multi-link flexible hydraulic cranes. In 6th International Conference on Fluid Power. Tampere, Finland, 1999.
[10] Mattila, J. and Virvalo, T. Energy efficient motion control of a hydraulic manipulator. In Int Proc Robotics and Automation. San Francisco, USA, 2000.
[11] Merrit, H.E. Hydraulic Control Systems. John Wiley and Sons, Inc. New York, USA, 1967.
[12] Mikkola, A.M. Studies of Fatigue Damage in a Hydraulic Driven Boom System Using Virtual Prototype Simulations. PhD Thesis, Lappeenranta University of Technology, Finland, 1997.
[13] Münzer, M.E. Resolved Motion Control of Mobile Hydraulic Cranes. PhD Thesis, Aalborg University, Denmark, 2003.
[14] Nielsen, B.K. Controller Development for a Separate Meter-in Separate Meter-out Fluid Power Valve for Mobile Applications. PhD Thesis, Aalborg University, Denmark, 2005.
[15] Nikravesh, P.E. Systematic reduction of multibody equations of motion to a minimal set. Int J Nonlinear Mechanics, 1990. 25(2/3):143--151. doi:10.1016/0020-7462(90)90046-C.
[16] Nikravesh, P.E. Computational Methods in Multi-body Systems. Notes, COMETT, DTH, Lyngby, Denmark, 1991.
[17] Pedersen, H.C. and Nielsen, B. Resolved Motion Control of Flexible Hydraulic Manipulators. Master Thesis, Aalborg University, Denmark, 2002.
[18] Yuan, Q., Lew, J., and Piyabongkarn, D. Motion control of an aerial work platform. In Proc. American Control Conference. St. Louis, MO, USA, 2009.
BibTeX:
@article{MIC-2010-4-2,
title={{Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation}},
author={Mikkel M. Pedersen and Michael R. Hansen and Morten Ballebye},
journal={Modeling, Identification and Control},
volume={31},
number={4},
pages={133--143},
year={2010},
doi={10.4173/mic.2010.4.2},
publisher={Norwegian Society of Automatic Control}
};
