Semi-autonomous operation of a mobile concrete pump

被引：3
|
作者：
Meiringer, M. [1 ]
Kugi, A. [1 ,2 ]
Kemmetmueller, W. [1 ]
机构：
[1] TU Wien, Automat & Control Inst ACIN, Vienna, Austria
[2] Austrian Inst Technol AIT, Vienna, Austria
来源：
AUTOMATION IN CONSTRUCTION | 2023年 / 156卷
关键词：
Large-scale manipulator; Mobile concrete pump; Optimal support; Time -optimal trajectory planning; Trajectory following control; Experimental validation; Elastic multi -body system; LARGE-SCALE MANIPULATORS; STABILITY; MARGIN;
D O I：
10.1016/j.autcon.2023.105079
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
The developments of mobile-concrete pumps steadily increase the complexity of their operation. At the same time, increasing computational power and sensor performance give rise to new smart assistance systems for the operator. This paper presents an optimization-based trajectory planning and motion control concept for a mobile concrete pump that can ensure secure support and obstacle avoidance during setup. The proposed concept allows to determine the truck's optimal support configuration and is able to plan the boom's unfolding and folding motion to desired target configurations. The effectiveness of the proposed concept is demonstrated by extensive simulation studies and experimental results on a real-world mobile concrete pump.
引用
收藏
页数：13
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