{"title":"基于二次规划的液压限制柔性连杆混凝土泵工具中心点控制","authors":"Julian Wanner, O. Sawodny","doi":"10.1109/COASE.2019.8842831","DOIUrl":null,"url":null,"abstract":"Tool-center-point control allows efficient and intuitive operation of a mobile concrete pump at task space level. Besides controlling the end-effector, numerous additional requirements and constraints act on the control system. The deformation of the flexible manipulator and volumetric flow rate constraints in the hydraulic actuation system effect the operation of the tool-center-point control. In this paper a deformation compensation and a volumetric flow rate constraint for a kinematic, constrained quadratic optimization (cQP) based tool-center point control is presented. The methods are validated by simulation for a flexible five-link concrete pump.","PeriodicalId":6695,"journal":{"name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","volume":"27 1","pages":"561-566"},"PeriodicalIF":0.0000,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Tool-center-point control of a flexible link concrete pump with hydraulic limitations using quadratic programming\",\"authors\":\"Julian Wanner, O. Sawodny\",\"doi\":\"10.1109/COASE.2019.8842831\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Tool-center-point control allows efficient and intuitive operation of a mobile concrete pump at task space level. Besides controlling the end-effector, numerous additional requirements and constraints act on the control system. The deformation of the flexible manipulator and volumetric flow rate constraints in the hydraulic actuation system effect the operation of the tool-center-point control. In this paper a deformation compensation and a volumetric flow rate constraint for a kinematic, constrained quadratic optimization (cQP) based tool-center point control is presented. The methods are validated by simulation for a flexible five-link concrete pump.\",\"PeriodicalId\":6695,\"journal\":{\"name\":\"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)\",\"volume\":\"27 1\",\"pages\":\"561-566\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/COASE.2019.8842831\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/COASE.2019.8842831","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tool-center-point control of a flexible link concrete pump with hydraulic limitations using quadratic programming
Tool-center-point control allows efficient and intuitive operation of a mobile concrete pump at task space level. Besides controlling the end-effector, numerous additional requirements and constraints act on the control system. The deformation of the flexible manipulator and volumetric flow rate constraints in the hydraulic actuation system effect the operation of the tool-center-point control. In this paper a deformation compensation and a volumetric flow rate constraint for a kinematic, constrained quadratic optimization (cQP) based tool-center point control is presented. The methods are validated by simulation for a flexible five-link concrete pump.
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