Header

Shop : Details

Shop
Details
58,80 €
ISBN 978-3-8440-9371-1
Softcover
124 pages
63 figures
228 g
17 x 24 cm
English
Thesis
January 2024
Martin Meiringer
Model-based semi-autonomous operation of a truck-mounted concrete pump
The work discusses the semi-autonomous operations of a truck-mounted concrete pump, specifically focusing on its setup process at construction sites. This involves stabilizing the machine with support feet and unfolding the concrete distribution boom.

To tackle these issues, practical assistance systems are developed, using tailored mathematical models derived from physical principles to aid operators. These models are calibrated with real-world machine measurements, ensuring accurate motion representation in simulations. Leveraging these models, customized planning tools are created for machine motions, executed and stabilized using established automation and control techniques.

For supporting the machine, an exhaustive simulation analysis is conducted, resolving the question of achieving maximal stable support. Insights gained lead to a computationally efficient planning and control algorithm developed for practical use.

Developing an optimization-based motion planning system for boom unfolding and folding considers various constraints (technical and legal), notably collision avoidance within the workspace. An algorithm prioritizing robustness and computational efficiency is presented, leveraging system geometry to simplify complexity. An alternative motion planning strategy for the concrete distribution task based on desired Cartesian paths is also introduced.

Extensive simulation studies validate proposed concepts, particularly the boom unfolding planning and stabilization algorithm through real-world measurements.
Keywords: truck-mounted concrete pump; large-scale manipulator; flexible multibody system; Euler-Bernoulli; Saint-Venant; model calibration; computer vision; optimal operation; time-optimal; collision avoidance; experimental validation
Modellierung und Regelung komplexer dynamischer Systeme
Edited by Univ.-Prof. Dr. Andreas Kugi (TU Wien), o. Univ.-Prof. Dr. Kurt Schlacher (JKU Linz) and Prof. Dr.-Ing. Wolfgang Kemmetmüller (TU Wien), Wien / Linz
Volume 65
Available online documents for this title
You need Adobe Reader, to view these files. Here you will find a little help and information for downloading the PDF files.
Please note that the online documents cannot be printed or edited.
Please also see further information at: Help and Information.
 
 DocumentDocument 
 TypePDF 
 Costs44,10 € 
 ActionDownloadPurchase in obligation and download the file 
     
 
 DocumentTable of contents 
 TypePDF 
 Costsfree 
 ActionDownloadDownload the file 
     
User settings for registered online customers (online documents)
You can change your address details here and access documents you have already ordered.
User
Not logged in
Export of bibliographic data
Shaker Verlag GmbH
Am Langen Graben 15a
52353 Düren
Germany
  +49 2421 99011 9
Mon. - Thurs. 8:00 a.m. to 4:00 p.m.
Fri. 8:00 a.m. to 3:00 p.m.
Contact us. We will be happy to help you.
Captcha
Social Media