Crane Controller Degrees of Freedom Management
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Solution Overview
Problem
Conventional crane systems with coordinate control face complexity in calculating reverse transformations due to overdetermination, leading to unforeseeable movements and high computational effort, making it difficult for operators to predict and control the movement of the crane tip.
Innovation Solution
A crane controller with a user interface that allows users to limit or disable specific degrees of freedom during coordinate control, reducing the complexity of reverse transformation calculations and enabling more predictable movements by allowing users to select which arms participate in the movement, thereby reducing overdetermination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate control is implemented with an overdetermined arm system, then the crane tip can be positioned with high precision and flexibility, but the reverse transformation calculation becomes extremely complex and computationally intensive
Solution Approach 1:
The patent extracts and removes the redundancy from the overdetermined arm system by selectively disabling certain degrees of freedom through the user interface. This extraction of unnecessary freedom reduces the calculation complexity while maintaining sufficient positioning capability for the crane tip.
Solution Approach 2:
The system dynamically changes the parameters of the arm system by allowing users to limit or disable specific degrees of freedom through the user interface. This parameter modification transforms the overdetermined system into a determined or underdetermined system, simplifying the reverse transformation calculations while preserving essential positioning accuracy.
2Adaptability or versatility
If all degrees of freedom are enabled in the arm system, then the system has maximum flexibility and range of motion, but the movements become unforeseeable and difficult to control
Solution Approach 1:
The system implements dynamic control of degrees of freedom by allowing users to selectively enable or limit specific movements through the user interface during operation. This dynamic adjustment maintains flexibility when needed while ensuring predictability and ease of operation when control is required.
Solution Approach 2:
The user interface provides feedback mechanisms that allow operators to monitor and control which degrees of freedom are active. This feedback loop enables users to adjust the system's flexibility in real-time, ensuring movements remain foreseeable and controllable while maintaining adequate adaptability for the lifting task.
3Productivity
If the arm system is overdetermined with more degrees of freedom than necessary, then optimization possibilities increase, but the computational effort for control calculations increases significantly
Solution Approach 1:
The patent applies partial action by enabling only the necessary degrees of freedom required for the specific lifting task rather than all available degrees of freedom. This partial activation maintains sufficient optimization capability for the task at hand while significantly reducing the computational energy consumption associated with controlling an overdetermined system.
Data Source
AI summary
A crane, in particular a loading crane, includes an arm system that has a plurality of arms. The crane also has a crane controller that is configured, in a coordinate control operating mode, to control the coordinates of the arm system. The crane controller has a user interface, and the user interface has at least one function which can be selected by a user and by way of which at least one of the degrees of freedom of the arm system can be restricted or is restricted in the coordinate control operating mode.