Dynamics and Control of Mobile Cranes

Dynamics and Control of Mobile Cranes

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Base mobility in cranes presents both additional control challenges and operational opportunities. A crane with base mobility is redundantly actuated (overactuated), such that multiple combinations of actuators can be used to move a payload from one location to another. This opens the possibility for the selection of a combination of actuation that provides both rapid motion and limited system vibration. The extension of input shaping into this operational domain will provide a method to maximize effective actuation combinations.Base mobility in cranes presents both additional control challenges and operational opportunities.


Title:Dynamics and Control of Mobile Cranes
Author:
Publisher:ProQuest - 2008
ISBN-13:

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