Flatness-based trajectory planning for 3D overhead cranes with friction compensation and collision avoidance
For crane operators and automation engineers, this method improves safety and speed by explicitly modeling friction and obstacles, though it is an incremental extension of existing flatness-based approaches.
The paper presents a flatness-based trajectory planning method for 3D overhead cranes that incorporates nonlinear friction and collision avoidance, enabling aggressive movements with swing constrained only at the final point. Simulations show that neglecting dry friction causes actuator saturation and collisions, demonstrating friction modeling is essential for fast and safe trajectories.
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.