Auto-positioning of sliding planes based on virtual force
Eun Ho Kim, Kyung Woon Kwak, Young Kook Kim, Soohyun Kim, Byung Man Kwak, In Gwun Jang, Kyung Soo Kim, International Journal of Control, Automation and Systems, August 2013, Volume 11, Issue 4, pp 798-804.
Abstract
In this paper, an auto-positioning algorithm for sliding planes is newly proposed in two different forms: the General Virtual Force Algorithm (GVFA) and the Applied Virtual Force Algorithm (AVFA). The proposed algorithm is then applied to an auto-positioning spreader which can slide on the top surface of a container with 3 degrees of freedom (DOF). This enables the spreader to handle containers even on a wavy open sea, where the inevitable swinging motion of a spreader leads to significant misalignment from the container during landing. With numerical simulation and experiments using a 1/20 scale model, it is verified that the proposed algorithms provide a robust and reliable solution for in-plane path-finding. Considering the limited space and cost for sensor equipment, however, using AVFA with 8 sensors can be a better solution for an actual application regardless of the slight sacrifice in performance in terms of operation time and energy consumed.
How Multibody Dynamics Simulation Technology is Used
A newly proposed auto-positioning algorithm for sliding planes was tested using RecurDyn and scale testing. Scale testing was able to validate the RecurDyn model. RecurDyn simulations were able to prove that the algorithms provide a robust and reliable solution for path finding.
