Modeling and Control of 5-DoF Boom Crane

Ambrosino, Michele; Berneman, Marc; Carbone, Gianluca; Crépin, Rémi; Dawans, Arnaud; Garone, Emanuele

doi:10.22260/isarc2020/0071

Cited by 12 publications

(6 citation statements)

References 21 publications

(33 reference statements)

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“…The 3D models of the double spherical 3D pendulum studied in the works [34][35][36][37] are more advanced. However, loads of point mass, not of distributed mass, are considered in these works.…”

Section: Literature Review and Problem State-mentmentioning

confidence: 99%

Spatial transportation of the beam on a bifilar fastening

Stadnik¹,

Podlesny²,

Kaporovych³

et al. 2022

FME Transactions

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The complex problem of the spatial motion of the "trolley-beam" mechanical system is investigated. Three stages are considered: 1) movement of the beam on a bifilar suspension to the movable trolley; 2) movement of the beam after the breakage of one branch of the suspension; 3) movement of the beam after the breakage of the second branch of the suspension. The study was carried out by creating mathematical models for each stage of the system movement and then conducting a numerical experiment using computer algebra. The tension of the ropes is calculated at the first and second stages of the system movement. Their extreme values are determined. The obtained results will be used in the further study of the system to reduce the tension of the rope and oscillation amplitude and to prevent accidents.

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Section: Literature Review and Problem State-mentmentioning

confidence: 99%

Spatial transportation of the beam on a bifilar fastening

Stadnik¹,

Podlesny²,

Kaporovych³

et al. 2022

FME Transactions

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show abstract

“…Solving (18) for the multipliers 𝜆, we obtain 𝜆 = (A(q)B(q) −1 A(q) T ) −1 (A(q)B(q) −1 (C(q, q) q + g(q) − Su) − Ȧ(q, q) q). (…”

Section: Modeling Of Robotic Systemmentioning

confidence: 99%

Control of a multirobot bricklaying system

Ambrosino

Delens²,

Garone

2021

Adv Control Appl

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Research is increasingly shifting from the design and control of single robots toward collaborative methods for multirobot systems. Particularly interesting are heterogeneous systems since the combination of different capabilities can tackle tasks that are difficult, if not impossible, to perform with a single robot.In this article we propose a scheme for the control of a novel heterogeneous multirobot system designed for bricklaying where the use of a single robot is not feasible due to the weight of the payloads to be managed. The proposed solution is based on a crane which cooperates with a lightweight rigid robot. The correct cooperation between the two robotic subunits poses a series of control challenges that must be studied in the context of cooperative manipulation of an object. In this article, we first derive the mathematical model of this novel robotic system during the positioning of the block. Then a control law is proposed. The proposed law is based on an ad hoc inverse dynamic control which takes advantage of the overactuation of the resulting connected system to unload the robotic arm from the weight of the block. A physical CAD-based simulator of the system is used to show the effectiveness of the proposed control law and to show that the proposed architecture allows to position precisely large and heavy blocks while using a relatively small rigid robotic manipulator.

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“…In the authors designed a Proportional-Derivative (PD) controller with gravity compensation based on the nonlinear model of the boom crane. In (Ambrosino, Berneman, et al, 2020) is shown a partial feedback linearization (PFL) based on detailed mathematical model of boom cranes. In (Uchiyama, Takagi, & Sano, 2006) is shown a pole placement approach for a linearized model of boom crane.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Control of a Knuckle Boom Crane

Ambrosino

Garone

2021

Preprint

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Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which are among the most common types of rotary cranes. Compared with the other kinds of cranes (e.g. boom cranes, tower cranes, overhead cranes, etc), the study of knuckle cranes is still at an early stage and very few control strategies for this kind of crane have been proposed in the literature. Although fairly simple mechanically, from the control viewpoint the knuckle cranes present several challenges. A first result of this paper is to present for the first time a complete mathematical model for this kind of crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. The only simplifying assumption of the model is that the cable is considered rigid. On the basis of this model, we propose a nonlinear control law based on energy considerations which is able to perform position control of the crane while actively damping the oscillations of the load. The corresponding stability and convergence analysis is carefully proved using the LaSalle's invariance principle. The effectiveness of the proposed control approach has been tested in simulation with realistic physical parameters and in the presence of model mismatch.

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Modeling and Control of 5-DoF Boom Crane

Cited by 12 publications

References 21 publications

Spatial transportation of the beam on a bifilar fastening

Spatial transportation of the beam on a bifilar fastening

Control of a multirobot bricklaying system

Modelling and Control of a Knuckle Boom Crane

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