天井クレーンにおける荷物の回転を考慮した経路計画と障害物回避制御 : 第1報,荷物の回転動作を考慮した経路計画(機械力学,計測,自動制御)

概要

論文の詳細を見る
In this paper, the path planning considering rotary motion of load is presented for automous overhead crane. First, we give the condition of interference between a rectangular load and obstacles, and a movable area without interference is decided in the configuration space. Secondly, a secure path planning is derived by the potential method based on extended 3-dimensional diffusion equation considering rotary motion. Furthermore, the parameter of suppressing rotary motion in the extended diffusion equation is clarified, and its effect is demonstrated. Finally, Quadratic curved surface interpolation method is proposed to get the smooth path planning, and the effectiveness of the proposed method is demonstrated through simulation results.
一般社団法人日本機械学会の論文
2006-04-25