Pedro Miranda
نویسنده
چکیده
Abstract This report presents a discussion of modeling dynamics for the forwarder crane located in our department. To formulate dynamics of this system, standard Euler-Lagrange methods are applied, by considering the crane as a multi-body system composed by links and joints. This leads to a set of differential equations that contain various unknown parameters, which are related to the inertias, masses, and location of center of masses. With the aim of estimating these unknown model parameters, a linear representation of the dynamics equations is derived, in which frictional forces are also included. The parameters are estimated by the use of least-square methods, which is made feasible by the design of optimal periodic trajectories. In the machine, optical encoders and pressure transducers are used for capturing links positions and cylinder forces respectively. The computation of joints torques from cylinder forces is explicitly made by a nonlinear mapping. The results of simulation tests show a significant correspondence between measured and estimated values, validating our modeling approach. In addition, the estimated model parameters are within ranges of physically realizable values.
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تاریخ انتشار 2011