A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Curvilinear transport of suspended payloads
Automated transport of suspended objects is a subject of importance in many manufacturing, construction, and military applications. Suppression of the natural oscillation of payloads after a transport motion has been extensively studied, but generalized planar motion has yet to be examined. Obstacles in a crane or robot workspace may necessitate transport using a sequence of many linear segments or by a sequence of fewer curvilinear ones. The use of curvilinear motions in such cases may have the following advantages: (1) less error buildup in optimization due to the use of fewer segments, and (2) faster transport. We investigate parametrically-defined polynomial spatial paths optimized using dynamic programming. We present simulations and experimental evaluations of these optimizations.
Curvilinear transport of suspended payloads
Automated transport of suspended objects is a subject of importance in many manufacturing, construction, and military applications. Suppression of the natural oscillation of payloads after a transport motion has been extensively studied, but generalized planar motion has yet to be examined. Obstacles in a crane or robot workspace may necessitate transport using a sequence of many linear segments or by a sequence of fewer curvilinear ones. The use of curvilinear motions in such cases may have the following advantages: (1) less error buildup in optimization due to the use of fewer segments, and (2) faster transport. We investigate parametrically-defined polynomial spatial paths optimized using dynamic programming. We present simulations and experimental evaluations of these optimizations.
Curvilinear transport of suspended payloads
Williams, C. (author) / Starr, G. (author) / Wood, J. (author) / Lumia, R. (author)
2007
7 Seiten, 12 Quellen
Conference paper
English
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