Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator

Kjelland, Magnus B.; Tyapin, Ilya; Hovland, Geir; Hansen, Michael Rygaard

doi:10.3182/20120531-2-no-4020.00034

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…Tool-point control for a redundant loader crane was done in [24], and for a hydraulic manipulator in [25,26], where the redundancy was solved using the pseudo-inverse Jacobian method.…”

Section: Introductionmentioning

confidence: 99%

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

2020

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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.

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“…Tool-point control for a redundant loader crane was done in [24], and for a hydraulic manipulator in [25,26], where the redundancy was solved using the pseudo-inverse Jacobian method.…”

Section: Introductionmentioning

confidence: 99%

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

2020

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MEMS Sensor Network Based Anti-Sway Control System for Articulated Hydraulic Crane

Honkakorpi

Vihonen

Mattila

2013

ASME/BATH 2013 Symposium on Fluid Power and Motion Control

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Hydraulic articulated multi-joint crane systems are widely used for the transportation of heavy loads. High productivity requires a short cargo transportation time which can lead to undesirable oscillations during crane load acceleration and deceleration. Typically it is the task of a crane operator to suppress the load swing, but with ever-increasing demand for faster operation the need for supporting control systems is evident. For overhead gantry cranes such assisting control systems can be considered as state of the art. However, for more complex articulated multi-link cranes only a few applicable control concepts have been proposed. Load swing angle and angular velocity measurement, or corresponding state observer based estimation, has been seen as a main problem in the realization of such assisting control systems. To tackle the problem, we present a novel suspended load anti-sway control system for heavy-duty articulated hydraulic cranes using solely low-cost linear MEMS accelerometers and angular rate gyroscopes embedded into easy-to-install sensor units. The proposed closed-loop anti-sway controller uses a network of embedded MEMS sensors for the crane motion state, suspended load inclination angle and angular velocity estimation. The control concept uses a semi-active approach where the desired load velocity is set by the crane operator via e.g. joystick input and the underlying load oscillation damping control system creates the desired crane tip velocity. Comparative results of anti-sway control are obtained using high resolution incremental encoder feedback for the articulated crane and suspended load motion states. Our experimental results verify effectiveness of the proposed anti-sway control system for articulated hydraulic cranes as well as applicability of the proposed MEMS sensor network for real-time closed-loop control of multi-body manipulators.

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Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

Jensen¹,

Ebbesen²,

Hansen³

2021

MIC

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In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.

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Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator

Cited by 3 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

MEMS Sensor Network Based Anti-Sway Control System for Articulated Hydraulic Crane

Development of 3D Anti-Swing Control for Hydraulic Knuckle Boom Crane

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