期刊
IEEE ACCESS
卷 9, 期 -, 页码 13022-13030出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3050258
关键词
Cranes; Payloads; Collision avoidance; Transportation; Trajectory planning; Trajectory; Safety; Double-pendulum cranes; obstacle avoidance; trajectory planning; underactuated systems
资金
- National Natural Science Foundation of China [61903120, U20A20198, 61941303, 62073118]
- Natural Science Foundation of Hebei Province [F2020202006, F2020202009]
- Key Research and Development Project of Hebei Province [20271804D]
In industrial crane systems, complex situations such as oversized payloads or obstacles may occur. This study proposes an optimal time trajectory planning method for double-pendulum crane systems, considering multiple physical constraints to ensure obstacle avoidance objectives and improve safety and transportation efficiency. The effectiveness of the proposed method is verified through simulations.
For a crane system, when the payload is too large to be seen as a mass point, or the hook mass cannot be directly ignored, it performs more like a double-pendulum crane system, instead of a single-pendulum crane system. Due to many factors, the working environment of the industrial crane system is complex. Obstacles sometimes appear in the movement path of the payload, which affects the normal operation of the crane system and may cause accidents like collisions. To handle this issue, we propose a time optimal trajectory planning method for the double-pendulum crane system with obstacle avoidance, which ensures the objective of obstacle avoidance by the payload hoisting/lowering. During the trajectory planning process, a series of physical constraints, including the trolley velocity constraints, the trolley acceleration constraints, the payload's swing angle constraints and the hook's swing angle constraints are considered. It can improve the safety of the crane system during the entire working process and the transportation efficiency is also improved at the same time. Finally, the effectiveness of the proposed method is verified by simulations.
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