基于微分平坦性规划3D天车轨迹，兼顾摩擦与防撞。
Flatness-based trajectory planning for 3D overhead cranes with friction compensation and collision avoidance
- 利用微分平坦性直接嵌入非线性摩擦和防撞约束。
- 忽略干摩擦会导致执行器饱和和碰撞，影响安全性。
- 适合需要快速精准吊运的工业场景，如港口、仓库。
本文提出一种基于微分平坦性的3D overhead cranes最优轨迹生成方法，可直接融入复杂物理与动态约束，包括非线性摩擦及载荷与绳索的防撞要求。该方法仅在终点约束载荷摆动，允许执行激进运动。对比仿真验证表明，忽略干摩擦会导致执行器饱和和碰撞，结果证明摩擦建模是实现快速安全吊运轨迹的基本前提。
原文摘要 · Abstract (English)
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and collision avoidance for both payload and rope. Our approach allows for aggressive movements by constraining payload swing only at the final point. A comparative simulation study validates our approach, demonstrating that neglecting dry friction leads to actuator saturation and collisions. The results show that friction modeling is a fundamental requirement for fast and safe crane trajectories.
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