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Flatness-Based MPC and Global Path Planning Towards Cognition-Supported Pick-and-Place Tasks of Tower Cranes

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Advanced Dynamics and Model-Based Control of Structures and Machines

Abstract

This paper proposes an overall control strategy towards cognition-supported pick-and-place tasks of tower cranes, as e.g. used in container handling applications. The presented concept is based on a global path planning algorithm which is combined with a flatness-based feedforward and a model predictive feedback control (MPC). A tower crane serves as an illustrative example for the application of the method. Assuming that the information about possible obstacles within the work space is provided by computer vision the concept is validated for pick-and-place tasks of the crane within the constrained work space.

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Acknowledgements

This work was partially supported by the Austrian FIT–IT project CLIC under project no. 819482 as well as by the Austrian FWF project no. P21253-N22 “Constrained Trajectory Optimization”.

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Authors and Affiliations

  1. Automation and Control Institute, Vienna University of Technology, Vienna, Austria

    Markus Egretzberger & Andreas Kugi

  2. Institute of Measurement, Control and Microtechnology, Universität Ulm, Ulm, Germany

    Knut Graichen

Authors
  1. Markus Egretzberger
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  2. Knut Graichen
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  3. Andreas Kugi
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Corresponding author

Correspondence to Markus Egretzberger .

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Editors and Affiliations

  1. Institut für Technische Mechanik, Universität Linz, Altenbergstr. 69, Linz, 4040, Austria

    Hans Irschik

  2. Abt. Technische Mechanik, Universität Linz, Altenbergerstraße 69, Linz, 4040, Austria

    Michael Krommer

  3. Inst. Problems of Mechanical Engineering, Russian Academy of Sciences, Bolshoy Ave. V. O. 61, St. Petersburg, 199178, Russian Federation

    Alexander K. Belyaev

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Egretzberger, M., Graichen, K., Kugi, A. (2012). Flatness-Based MPC and Global Path Planning Towards Cognition-Supported Pick-and-Place Tasks of Tower Cranes. In: Irschik, H., Krommer, M., Belyaev, A. (eds) Advanced Dynamics and Model-Based Control of Structures and Machines. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0797-3_8

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  • DOI: https://doi.org/10.1007/978-3-7091-0797-3_8

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  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-0796-6

  • Online ISBN: 978-3-7091-0797-3

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