Visual Servoing of a Flexible Gantry Crane With a Sway Range Constraint
Visual Servoing of a Flexible Gantry Crane With a Sway Range Constraint
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DOI：
10.1109/lcsys.2018.2857512
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发表时间：
2019
影响因子：
3
通讯作者：
Leilei Cui;Dongliang Zheng
中科院分区：
文献类型：
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作者：
Leilei Cui;Dongliang Zheng
在这封信中，解决了具有柔性缆索和摆动范围约束的龙门起重机移动到期望位置的问题。基于绝对节点坐标公式(ANCF)建立了柔性门式起重机系统的动力学模型，该模型可用于柔性体的分析。提出了一种新颖的控制器来控制龙门起重机到期望的位置，并保证摇摆范围的约束。此外，在手眼摄像机的帮助下，开发了一种自适应律来检测物体相对于基准帧的位置。基于李亚普诺夫理论，严格地证明了拉索位置收敛到期望位置、满足摇摆范围约束、估计对象位置收敛到真实值。仿真结果表明了该控制器的有效性。
In this letter, the problem of moving a gantry crane with a flexible cable and a sway range constraint to the desired position is solved. The dynamic model of the flexible gantry crane system is built based on the absolute nodal coordinate formulation (ANCF), which is useful for analyzing flexible bodies. A novel controller is proposed to control the gantry crane to the desired position and guarantee the sway range constraint. Moreover, with the help of an eye-in-hand camera, an adaptive law is developed to detect the position of the object with respect to the base frame. The convergence of the cable’s position to the desired position, the satisfaction of the sway range constraint, and the convergence of the estimated object’s position to the real value are rigorously verified based on the Lyapunov theory. Simulation demonstrates the effectiveness of the proposed controller.