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Non-linear dynamics modelling description for simulating the behavior of forestry cranes
Sveriges lantbruksuniversitet . (Department of Biomaterials and Forest Technology)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics & Control Lab)
2014 (English)In: International journal of Modeling, identification and control, ISSN 1746-6172, E-ISSN 1746-6180, Vol. 21, no 2, 125-138 p.Article in journal (Refereed) Published
Abstract [en]

Model-based design is a standard framework widely adopted in modern industry. It is used for designing multi-domain engineering solutions based on computer-aided simulation technology. Currently, this approach is also being viewed as a tentative method for designing modern heavy-duty machine technology. Under this motivation, our aim is to present how modeling techniques can be used for simulating dynamics of forestry machines. To this end, we consider a forestry crane, and propose mathematical models and calibration techniques, such that model-based methods can subsequently be applied. The complexity of the machine is represented by first principle laws, in which the mechanical system is modeled by Euler-Lagrange formulations, and the hydraulic system is modeled by principles of fluid dynamics. The calibration algorithms are performed by statistical algorithms based on linear and nonlinear least-squares methods. The results of simulation show a significant correspondence between the simulated and observed variables, validating our procedures.

Place, publisher, year, edition, pages
Inderscience Enterprises Ltd , 2014. Vol. 21, no 2, 125-138 p.
Keyword [en]
forestry machines, forestry cranes, hydraulic manipulators, dynamic modelling, model calibration, identification, simulation, real–time implementation, nonlinear dynamics, heavy–duty machinery, mathematical modelling, Euler–Lagrange formulations, fluid dynamics
National Category
Control Engineering Robotics
URN: urn:nbn:se:umu:diva-87577DOI: 10.1504/IJMIC.2014.060006OAI: diva2:710068
Available from: 2014-04-04 Created: 2014-04-04 Last updated: 2016-02-15Bibliographically approved
In thesis
1. Virtual Holonomic Constraints: from academic to industrial applications
Open this publication in new window or tab >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Place, publisher, year, edition, pages
Umeå: Umeå Universitet, 2015. 57 p.
Robotics and control lab, ISSN 1654-5419 ; 7
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
National Category
Control Engineering Robotics
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Public defence
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (English)
Available from: 2015-01-12 Created: 2014-04-07 Last updated: 2015-01-12Bibliographically approved

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La Hera, PedroOrtiz Morales, Daniel
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