Developing a tool point control scheme for a hydraulic crane using interactive real-time dynamic simulation

Abstract

This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme is developed for the specific crane, considering the saturation phenomena of the system and practical implementation.© 2010 Norwegian Society of Automatic Control.