Optimal motion planning for overhead cranes

dc.contributor.authorWu, Zhou
dc.contributor.authorXia, Xiaohua
dc.date.accessioned2015-03-18T11:54:21Z
dc.date.available2015-03-18T11:54:21Z
dc.date.issued2014
dc.description.abstractOverhead cranes are widely used in industrial applications for material displacing. Many linear or non-linear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This study aims at finding an optimal solution of motion planning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtained with less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such as swing, acceleration and jerk. Besides the energy optimal model, the authors also propose two other models to optimise time efficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories, and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety, respectively.en_ZA
dc.description.librarianhb2015en_ZA
dc.description.urihttp://www.ietdl.orgIET-CTAen_ZA
dc.identifier.citationWu, Z & Xia, X 2014, 'Optimal motion planning for overhead cranes', IET Control Theory and Applications, vol. 8, no. 17, pp. 1833-1842.en_ZA
dc.identifier.issn1751-8644 (print)
dc.identifier.issn1751-8652 (online)
dc.identifier.other10.1049/iet-cta.2014.0069
dc.identifier.urihttp://hdl.handle.net/2263/44042
dc.language.isoenen_ZA
dc.publisherInstitution of Engineering and Technologyen_ZA
dc.rights© The Institution of Engineering and Technology 2014. This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at IET Digital Library.en_ZA
dc.subjectOverhead cranesen_ZA
dc.subjectMotion planningen_ZA
dc.subjectEnergy efficiency (EE)en_ZA
dc.titleOptimal motion planning for overhead cranesen_ZA
dc.typePostprint Articleen_ZA

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