Designing and testing control systems for forestry cranes
(English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865Article in journal (Refereed) Submitted
Motivated by the interest, and in collaboration of forestry machine manufacturers, a number of motion control algorithms have been designed, implemented, and tested in a forwarder crane. The aim has been to achieve the robust tracking of reference link motion trajectories based on sensory feedback coming from pressure and angular displacement sensors mounted in the manipulator. To this end, a procedure employing computer aided model-based methods and simulation technology have been suggested, in order to produce systematical tools for model analysis, tuning of controllers, and rapid prototyping for hardware-in-the-loop testing. The controllers derived have the objective to form the background of a new generation of crane control modes, which will be subsequently designed by the use of different motion planning techniques. We present results of experimental studies carried out on a medium-size crane, which has been properly equipped for the task of rapid-prototyping.
Control Engineering Robotics
IdentifiersURN: urn:nbn:se:umu:diva-87579OAI: oai:DiVA.org:umu-87579DiVA: diva2:710133