标题：A motion planning method for underactuated 3D overhead crane systems
作者：Zhang, Menghua ;Ma, Xin ;Gao, Faqin ;Tian, Xincheng ;Li, Yibin
作者机构：[Zhang, Menghua ;Ma, Xin ;Gao, Faqin ;Tian, Xincheng ;Li, Yibin ] School of Control Science and Engineering, Shandong University, Jinan, China
会议名称：34th Chinese Control Conference, CCC 2015
会议日期：28 July 2015 through 30 July 2015
来源：Chinese Control Conference, CCC
关键词：3D Overhead Crane; Motion Planning; Parabola-based trajectory; Phase Plane; Underactuated System
摘要：A novel motion planning method for 3D overhead crane system is proposed by analyzing the coupling relationship between the trolley motion and the load swing in this paper, which takes the consideration of system indexes and physical constraints. At first, we apply a three-segment acceleration trajectory planning method to 3D overhead cranes. Then, a parabola-based trajectory is presented to tackle the jerk problem of three-segment acceleration trajectory. Furthermore, the time of one transition stage is designed by the discussion on energy consumption and jerk. The method ensures the velocity, acceleration of the trolley, and the swing angles of the payload within the pre-set ranges. Moreover, when the trolley stops, zero residual oscillation of the payload is guaranteed. The superior performance of the proposed motion planning method is demonstrated by numerical simulations. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.