Lifting Arm Geometry Control for Predictable Target Positioning
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Solution Overview
Problem
Conventional methods for moving lifting devices, such as cranes, require high user workload and time expenditure due to manual adjustments and unpredictable geometry changes, especially in systems with redundant degrees of freedom, leading to computational inefficiencies and potential collisions.
Innovation Solution
A method for moving lifting devices that allows for intuitive, predictable arm system movements by controlling actuators based on degrees of freedom, including presetting, measuring, comparing, and generating control commands to minimize geometry deviations, enabling automated adjustments within a tolerance range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If coordinate control of the arm system is implemented, then the user can control the crane tip position more intuitively, but the computational effort for generating control commands increases significantly
Solution Approach 1:
The system performs preliminary detection of the current arm system geometry and pre-calculates deviation values before generating control commands. This allows the control system to prepare correction commands in advance based on the detected geometry, reducing real-time computational burden while maintaining intuitive coordinate control
Solution Approach 2:
The system continuously detects the actual geometry of the arm system and feeds back deviation information to the control unit. This feedback mechanism enables the controller to adjust control commands based on actual position deviations, maintaining computational efficiency through iterative correction rather than complex real-time recalculation
2Adaptability or versatility
If the arm system moves to a target position with redundant degrees of freedom, then multiple geometries are possible, but this leads to unpredictable geometry changes and potential collisions
Solution Approach 1:
The system applies different control strategies to different parts of the arm system based on their specific roles. The control unit determines which actuators and degrees of freedom should be adjusted to minimize geometry changes, applying localized control decisions rather than uniform control across all joints, thereby ensuring predictable and safe movements
3Ease of operation
If manual adjustment movements are performed to reach target positions, then the user has direct control, but the workload and time expenditure increase significantly
Solution Approach 1:
The control system automatically detects the current geometry, calculates deviations from the target position, and generates appropriate control commands without requiring manual intervention. The system serves itself by autonomously determining the necessary adjustments and executing movements, significantly reducing both user workload and time to reach target positions
Data Source
AI summary
A method for moving a lifting device includes: in a presetting phase, presetting at least one target position for the lifting device; in a measuring phase, detecting an instantaneous geometry of the arm system; in a selection phase, selecting a target position specified in the presetting phase; in a comparison phase, determining a geometrical deviation between the geometry of the target position selected in the selection phase and the instantaneous geometry detected in the measuring phase; in a generation phase, generating at least one control command on the basis of the geometrical deviation determined in the comparison phase; and in a control phase, performing at least partial movement of the lifting device into the selected target position by actuating the actuators of the arm system with the at least one control command generated in the generation phase.