A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes  

作　　者：WANG Peng-Cheng FANG Yong-Chun JIANG Zi-Ya 

机构地区：[1]Institute of Robotics and Automatic Information System (IRAIS), Nankai University, Tianjin 300071, China [2]Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China [3]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016. China

出　　处：《自动化学报》2014年第11期2414-2419,共6页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of China （61325017, 11372144）, and the National Science and Technology Pillar Program of China （2013BAF07B03）

关 键 词：桥式起重机 基于约束 SWING 欠驱动 规划法 非线性运动学 载荷摆动 轨迹规划 

分 类 号：TP391.72[自动化与计算机技术—计算机应用技术] TH215[自动化与计算机技术—计算机科学与技术]