Abstract
This paper presents a novel method for point-to-point path control for a hydraulic knuckle boom crane. The developed path control algorithm differs from previous solutions by operating in the actuator space instead of the joint space or Cartesian space of the crane. By operating in actuator space, almost all the parameters and constraints of the system become either linear or constant, which greatly reduces the complexity of both the control algorithm and path generator. For a given starting point and endpoint, the motion for each actuator is minimized compared to other methods. This ensures that any change in direction of motion is avoided, thereby greatly minimizing fatigue, jerky motion, and energy consumption. However, where other methods may move the tool-point in a straight line from start to end, the method in actuator space will not. In addition, when working in actuator space in combination with pressure-compensated control valves, there is no need for linearization of the system or feedback linearization due to the linear relationship between the control signal and the actuator velocities. The proposed solution has been tested on a physical system and shows good setpoint tracking and minimal oscillations.
Highlights
Most hydraulic lifting and handling machines are manually operated
A hydraulically actuated knuckle boom crane has been considered for path control
These results show that the path generator and controller have good tracking performance without large oscillations in the system
Summary
Most hydraulic lifting and handling machines are manually operated. With an increasing demand for automation and higher efficiency, path control can be an important tool to achieve this. By supplying a desired tool-point position, the joint angles for the manipulator can be calculated This has been done on a hydraulic telescopic handler in [17], for a hydraulic crane in [18], and for flexible loader cranes in [19,20,21,22,23]. In [28], a tool-point control scheme was developed for a loader crane using interactive real-time simulation This included velocity control in the joint space, configuration control, flow sharing, and an operator-in-the-loop.
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