Robust Tool Point Control for Offshore Knuckle Boom Crane

Bak, Morten K.; Hansen, Michael Rygaard; Karimi, Hamid Reza

doi:10.3182/20110828-6-it-1002.03004

Cited by 7 publications

(2 citation statements)

References 11 publications

(10 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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].…”

Section: Introductionmentioning

confidence: 99%

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

2020

View full text Add to dashboard Cite

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.

show abstract

Section: Introductionmentioning

confidence: 99%

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

2020

View full text Add to dashboard Cite

show abstract

“…Pedersen et al in 2010 presented a paper on tool point control of a similar hydraulic crane using dynamic simulation [4]. Bak, Hansen and Karimi have discussed robust tool point control using H∞ control for a offshore knuckle boom crane [7].…”

Section: Introductionmentioning

confidence: 99%

Saving Time by Tip Control & Automation of Knuckle and Boom Hydraulic Crane

Chakraborty¹,

Meena²

2016

IJHIT

View full text Add to dashboard Cite

This paper describes the steps involved in the tip control and automation of a hydraulic boom and knuckle crane which is used to position loads with accuracy and repeatability in shortest possible time. The crane is required to perform erection and installation of a modular bridge consisting of number of identical modules which have to be picked up or raised, moved along a predefined path and lowered at a drop point sequentially by the crane. Automation and tip control of the crane will reduce the burden on the operator and also save time. The requirement of raising and lowering of the loads require synchronised operation of two joints of the crane. For this purpose two different algorithms were derived, and the one which was feasible with the crane was used in the actual trials. For modelling and simulation of the crane, the kinematic equations of the crane were developed in MATLAB & the hydraulic circuit simulation & 3D Model of the crane simulation was developed in ITI_SimulationX. Actual system trials were done using dummy loads with the crane. The sensors to obtain feedback of joint angles were retrofitted on the existing crane structure. In place of the manual joystick controller, a new MMI based control system based on PLC was designed. The adapted crane can be operated manually by the individual valve joysticks as well as in automatic mode by the MMI and PLC based controller. The positions of the crane are taught to the controller using 'teach' mode in the controller. The controller calculates the new positions based on the kinematic equations and gives command to the valves to position the load accordingly.

show abstract

Function Approximation Technique Based Immersion and Invariance Control for an Underactuated Tower Crane System

Bai

2020

ROMANSY 23 - Robot Design, Dynamics and Control

View full text Add to dashboard Cite

Robust Tool Point Control for Offshore Knuckle Boom Crane

Cited by 7 publications

References 11 publications

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane

Saving Time by Tip Control & Automation of Knuckle and Boom Hydraulic Crane

Function Approximation Technique Based Immersion and Invariance Control for an Underactuated Tower Crane System

Contact Info

Product

Resources

About