Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments
Jason Bettega,
Dario Richiedei,
Iacopo Tamellin
Abstract:Handling suspended loads in cluttered environments is critical due to the oscillations arising while the load is traveling. Exploiting active control algorithms is often unviable in industrial applications, due to the necessity of installing sensors on the load side, which is expensive and often impractical due to technological limitations. In this light, this paper proposes a trajectory planning method for underactuated, non-flat, non-minimum phase spatial gantry crane moving in structured cluttered environme… Show more
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