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Experimental research on anti-sway control of hoisting manipulator end spreader
Published:2023-02-15 author:LU Kai, WANG Ting. Browse: 1177 Check PDF documents
Experimental research on anti-sway control of 
hoisting manipulator end spreader


LU Kai1,2,3, WANG Ting1,2

(1.State Key Laboratory of Robotics,Shenyang Institute of Automation(Chinese Academy of Sciences), Shenyang 110016, 

China; 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, 

China; 3.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China)


Abstract: Aiming at the low loading and unloading efficiency caused by the swing of the lifting load of the lifting manipulator and the great potential safety hazards, taking the plane three link lifting manipulator as an example, the experimental research on the running speed and motion attitude of the end of the manipulator was carried out. Firstly, the motion model of a planar three degree of freedom manipulator was established and its terminal velocity formula was derived. Then a control method combining conventional proportion-integral-derivative(PID)and fuzzy neural network was proposed to reduce the swing of suspended load. The structure and algorithm of the fuzzy neural network controller used in the control system were expounded. The driving factor of back propagation(BP)algorithm was used to adjust the parameters and weights, which improved the learning speed of neural network. Finally, the control system was simulated in Simulink and verified on the experimental platform of rescue grab manipulator. The experimental and simulation results were compared and analyzed. The research results show that the anti swing effect of the fuzzy neural network control method can make the positioning accuracy of the spreader gripper higher. Compared with the conventional PID control, this method has small overshoot, the adjustment time is accelerated by 28.6%, the maximum swing angle of the spreader is reduced by 59.2%, and the comprehensive control effect is ideal.

Key words: self-propelled crane; planar three degree of freedom manipulator; spreader anti sway; fuzzy control; neural network; positioning accuracy of spreader gripper


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