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“Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation”

Authors: Mikkel M. Pedersen, Michael R. Hansen and Morten Ballebye,
Affiliation: Aalborg University, University of Agder and Hĝjbjerg Maskinfabrik A/S
Reference: 2010, Vol 31, No 4, pp. 133-143.

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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 PDF (596 Kb)        DOI: 10.4173/mic.2010.4.2

DOI forward links to this article:
  [1] Magnus B. Kjelland and Michael R. Hansen (2015), doi:10.1080/14399776.2015.1089071
  [2] M.K. Bak, M.R. Hansen and H.R. Karimi (2011), doi:10.3182/20110828-6-IT-1002.03004
  [3] Magnus B Kjelland, Ilya Tyapin, Geir Hovland and Michael R Hansen (2012), doi:10.3182/20120531-2-NO-4020.00034

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  title={{Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation}},
  author={Pedersen, Mikkel M. and Hansen, Michael R. and Ballebye, Morten},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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