Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation

Pedersen, Mikkel M.; Hansen, Michael R.; Ballebye, Morten
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/136787
Date
2010
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Original version
Pedersen, M., Hansen, M. R., & Ballebye, M. (2010). Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation. [Article]. Modeling Identification and Control, 31(4), 133-143. doi: 10.4173/mic.2010.4.2  
Abstract
This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme is developed for the specific crane, considering the saturation phenomena of the system and practical implementation.
Description
Published version of an article in the journal: Modeling Identification and Control. Also available from the publisher: http://dx.doi.org/10.4173/mic.2010.4.2 Open Access
Publisher
Norwegian Society of Automatic Control