Coordinate-Based Control For A Materials Handling Equipment Utilizing Real-Time Simulation

This paper presents the development and implementation of an advanced control system for a hydraulic manipulator. Designing a suitable coordinate control system for materials handling machines is vital for desired machine performance. For this purpose, targets of developing a proper coordinate control system were defined and mathematical equations were formulated. The two common control methods, i.e. open-loop control and closed-loop control were specifically designed for the handler in question, and the performance of the machine was studied applying each control method. The simulation environment and the operation principle of the created models are discussed in detail in this paper. The two control strategies introduced were tested through real-time simulation, and the accuracy and the performance of the manipulator were investigated utilizing each control method. The limitations and problems of each control strategy are addressed, and suggestions for further research directions to improve the accuracy of tip control are recommended. The case study in this paper is a mobile harbor crane material handler provided by the Mantsinen Group.