Optimal sway motion reduction in forestry cranes.

Abstract

The paper introduces a novel optimal feedforward controller for Hydraulic manipulators equipped with a passive grapple, addressing the issue of sway during and after movement. The controller is specifically applied to a forwarder machine used in forestry for log-loading tasks. The controller is designed for smooth operation, low computational demands, and efficient sway damping. Customizable parameters allow adjustments to suit operator preferences. The implementation was carried out using the Amesim model of a forwarder. Simulation results indicate a significant reduction in sway motions, averaging a decrease of more than 60%. This performance was achieved without the need for additional sway-detection sensors, which simplifies the system design and reduces costs. The proposed method demonstrates versatility and broad applicability, offering a new framework for anti-sway controllers in various fields such as construction cranes, forestry vehicles, aerial drones, and other robotic manipulators with passive end-effectors. This adaptability could lead to significant advances in safety and efficiency.