Abstract
This paper examines how to handle redundancy in mobile hydraulic cranes. Four different strategies are presented andsimulated on a model of a rigid crane coupled to a hydraulic system. By integrating the power of the pump (flow timesthe pressure), it can be determined how much energy the different strategies use. The strategies are, (i) minimum normsolution in joint space, (ii) minimum norm solution in actuator space, (iii) minimizing forces in the cylinders, and (iv) moving only two cylinders at once to reduce throttling losses in the system. Based on the experiments presented in thispaper, it is the opinion of the authors that strategy (iv) is the simplest to implement, is the most robust, and gives thebest energy results of the strategies tested.
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