Flatness-based trajectory planning for 3D overhead cranes with friction compensation and collision avoidance

TL;DR

This paper introduces a differential flatness-based method for optimal 3D overhead crane trajectory planning that incorporates friction and collision constraints, enabling faster and safer operations.

Contribution

The novel approach directly includes nonlinear friction and collision avoidance in trajectory generation using differential flatness, improving safety and efficiency.

Findings

Neglecting dry friction causes actuator saturation and collisions.

Friction modeling is essential for fast, safe crane trajectories.

Simulation validates the effectiveness of the proposed method.

Abstract

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.