Motion laws development of trolley movement and tower crane slewing
DOI:
https://doi.org/10.31548/dopovidi2(102).2023.020Keywords:
law of motion, tower crane, obstacle, trolley movement, slewing of the craneAbstract
The article presents an approach that allows to calculation optimal trajectory of load movement in the building yard. This trajectory provides avoiding obstacles in a way, that ensures the smoothness of the load movement. The essence of the developed approach is in multiple recalculations of the trajectory: the first step brings the shortest path from the initial point to the final point and the obstacle point is in the connection of two parts of the trajectory; the second stage provides changing the second part of the trajectory by a smooth (polynomial) law, that is connected with the first part at the angle 180 degrees; the third stage allows to add acceleration and deceleration modes of motion to the trajectory and reduces the load velocity when it goes near obstacle point. All of the calculations are carried out in an analytical way, and example of numerical calculations is presented in the article as well.
In order to make the needed calculation for shifting and rotation of the smooth part of the trajectory (second stage of calculation) all the path was converted into discreet form. Mentioned operation of rotation was carried pot with a rotation matrix.
In order to calculate discreet values of mechanisms' velocities the modified digital Savitzky-Golay filter was applied. The output results may be implemented by means of varied frequency drives of the mechanisms.
The article ends with comparing of numerical indicators, which refer to the three stages. Among them are: gaps in the velocity of a mechanism during acceleration and deceleration, the gap in the velocity of a mechanism during obstacle avoidance, and the change in velocity sign of a mechanism. All of the indicators were calculated for both of the mechanisms: tower crane slewing and trolley movement. Comparison of the numerical indicators allowed us to conclude, that the final stage (calculations iteration) is the best among the comparable. However, it has some disadvantages, that need to be fixed in further investigations in this direction.
References
Gutierrez, I.; Collado, J. (2015). [IEEE 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) - Mexico City, Mexico (2015.10.28-2015.10.30)] 2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) - Obstacle avoidance in a two wired hammerhead tower crane.
He Chen, Peng Yang, Yanli Geng (2019). Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Hong Kong, China, July 8-12, 2019. A Time Optimal Trajectory Planning Method for Overhead Cranes with Obstacle Avoidance.
Inomata, Akira; Noda, Yoshiyuki (2016). Fast trajectory planning by design of initial trajectory in overhead traveling crane with considering obstacle avoidance and load vibration suppression. Journal of Physics: Conference Series, 744, 012070.
Matsusawa, Kanata; Noda, Yoshiyuki; Kaneshige, Akihiro (2019). [IEEE 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) - Vancouver, BC, Canada (2019.8.22-2019.8.26)] 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) - On-demand Trajectory Planning with Load Sway Suppression and Obstacles Avoidance in Automated Overhead Traveling Crane System.
Hirashawa, Y., Hayasaki, K. (2014). Path planning for tower crane with obstacle avoidance. Procedia Computer Science, 29, 647-656.
Kotake, H., Yanagawa, H. (2016). Path planning of tower crane with obstacle avoidance usingartificial intelligence algorithm. International Journal of Advanced Robotic Systems, 13(2), 1-9.
Yanagawa, H., Kato, T., Kotake, H. (2017). Path planning for tower cranes with obstacle avoidance using genetic algorithm. Proceedings of the International Conference on Robotics and Biomimetics, Macau, China, December 5-8, 2017, 164-169.8. R. Korn and T. Korn. Handbook of mathematics for scientists and engineers: definitions, theorems, formulas. - M: Nauka, 1968. - 720 p.
Algorithm of Savitzky-Golay. URL: https://ru.frwiki.wiki/wiki/Algorithme_de_Savitzky-Golay (access date: 12/14/2022).
Downloads
Additional Files
Published
Issue
Section
License
Relationship between right holders and users shall be governed by the terms of the license Creative Commons Attribution – non-commercial – Distribution On Same Conditions 4.0 international (CC BY-NC-SA 4.0):https://creativecommons.org/licenses/by-nc-sa/4.0/deed.uk
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
