摩擦補償と衝突回避を考慮した3次元天井クレーンの平坦性に基づく軌道計画
Flatness-based trajectory planning for 3D overhead cranes with friction compensation and collision avoidance
微分平坦性を利用して、非線形摩擦やペイロード・ロープの衝突回避といった複雑な制約を直接組み込んだ3次元天井クレーンの最適軌道生成法を提案し、摩擦を無視するとアクチュエータ飽和や衝突が生じることを示した。
著者: Jorge Vicente-Martinez, Edgar Ramirez-Laboreo
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and collision avoidance for both payload and rope. Our approach allows for aggressive movements by constraining payload swing only at the final point. A comparative simulation study validates our approach, demonstrating that neglecting dry friction leads to actuator saturation and collisions. The results show that friction modeling is a fundamental requirement for fast and safe crane trajectories.