Trajectory generation for the trajectory tracking control of a fire rescue turntable ladder

In cooperation with IVECO Magirus for the new generation of fire turntable ladders, a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality an automated mode for...

Full description

Saved in:
Bibliographic Details
Published inRoMoCo'02 : proceedings of the third International Workshop on Robot Motion and Control pp. 411 - 416
Main Authors Sawodny, O., Lambeck, S., Hildebrandt, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2002
Subjects
Automatic generation control
Automation
Control engineering
Damping
Distributed control
Elasticity
Fires
Robots
Strain measurement
Trajectory
Online AccessGet full text
ISBN9788371434297
8371434294
DOI10.1109/ROMOCO.2002.1177141

Cover

More Information
Summary:In cooperation with IVECO Magirus for the new generation of fire turntable ladders, a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality an automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference functions for the underlying trajectory tracking control after a teach-in run of the ladder. The algorithm has to shorten the traveling time by considering variable kinematic constraints and a given corridor for the resulting play back trajectory.
ISBN:9788371434297
8371434294
DOI:10.1109/ROMOCO.2002.1177141