Phase plane analysis based motion planning for underactuated overhead cranes
Published: May 1, 2011
Abstract
Inspired by the desire to achieve fast payload transportation as well as sufficient swing suppression, a novel phase plane based motion planning method is proposed for underactuated overhead cranes. Specifically, the variation law of the underactuated system states in the phase plane is firstly derived via mathematical analysis for the phase portraits. Based on this, an analytical three-segment acceleration trajectory (namely, a trapezoid...
Paper Details
Title
Phase plane analysis based motion planning for underactuated overhead cranes
Published Date
May 1, 2011
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