Trajectory Planning through Model Inversion of an Underactuated Spatial Gantry Crane Moving in Structured Cluttered Environments

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 imp...

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Vydáno v:Actuators Ročník 13; číslo 5; s. 176
Hlavní autoři: Bettega, Jason, Richiedei, Dario, Tamellin, Iacopo
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 01.05.2024
Témata:
Acceleration
Active control
Algorithms
cluttered environment
crane
Cranes & hoists
Gantry cranes
Industrial applications
Manufacturing
Methods
model inversion
non-minimum phase systems
Ordinary differential equations
Robots
Suspended load
System dynamics
Trajectory planning
underactuated systems
Work environment
ISSN:2076-0825, 2076-0825
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Shrnutí: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 environments. The method relies on model inversion. First, the system dynamics is partitioned into actuated and unactuated coordinates and then the load displacements are described as a non-linear separable function of these. The unactuated dynamic is unstable; hence, the displacement, velocity, and acceleration references are modified through the output redefinition technique. Finally, platform trajectory is computed, and the desired displacements of the load are obtained. The effectiveness of the proposed method is assessed through numerical and experimental tests performed on a laboratory testbed composed by an Adept Quattro robot moving a pendulum. The load is moved in a cluttered environment, and collisions are avoided while simultaneously tracking the prescribed trajectory effectively.
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ISSN:2076-0825
2076-0825
DOI:10.3390/act13050176