Abstract
Flatness-based feedforward trajectory control is experimentally validated for a crane manipulator that suspends a flexible metal sheet by four chain hoists each positioned by an overhead crane gear. For a desired spatial trajectory of the sheet the control inputs of the individual drives are calculated by an inverse dynamics model that takes the load sway dynamics, an approximated dynamic transfer behaviour of the controlled drive axes and the stiffness of the payload into account. A forward kinematics measurement model enables an estimation of the actual pose of the platform from measured drive positions and chain inclinations. Experimental results show the effect of the control concept.
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Acknowledgements
This research and development project was supported by the European Regional Development Fund (EFRE). Support was also provided by the lead partner Technologie-Beratungsinstitut (TBI) according to the directive for support, development and innovation of the Ministry of Economics, Construction and Tourism of Mecklenburg-Vorpommern.
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Hildebrandt, E., Handreg, T., Froitzheim, P., Flügge, W., Woernle, C. (2020). Validation of Flatness-Based Feedforward Control for a Four-Chain Crane Manipulator. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_11
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DOI: https://doi.org/10.1007/978-3-030-55061-5_11
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