Overhead cranes are widely used in industrial applications for material displacing. Many linear or non-linearcontrol schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiencyof transportation has seldom been considered in motion planning. This study aims at finding an optimal solution of motionplanning in terms of energy efficiency for overhead cranes. Using the optimal control method an optimal trajectory is obtainedwith less energy consumption than the compared trajectories and is also satisfying physical and practical constraints such asswing, acceleration and jerk. Besides the energy optimal model, the authors also propose two other models to optimise timeefficiency and safety during transportation. The results obtained have been compared with some existing motion trajectories,and have been shown to be superior to these benchmarks in terms of energy efficiency, time efficiency and safety, respectively.
展开▼
