Meiringer, M., Kugi, A., & Kemmetmüller, W. (2023). Modelling and calibration of a five link elastic boom of a mobile concrete pump. Mathematical and Computer Modelling of Dynamical Systems, 29(1), 41–68. https://doi.org/10.1080/13873954.2023.2177311
Mathematical and Computer Modelling of Dynamical Systems
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ISSN:
1387-3954
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Date (published):
22-Feb-2023
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Number of Pages:
28
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Publisher:
TAYLOR & FRANCIS INC
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Peer reviewed:
Yes
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Keywords:
large-scale manipulator; mobile concrete pump; flexible multibody system; model calibration; computer vision; Euler-Bernoulli; Saint-Venant
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Abstract:
Large-scale manipulators, such as the boom of a mobile concrete pump, typically rely on lightweight construction to maximize their operational range. As a result, significant elastic deformations occur during operation. Various automation and control applications require computationally fast and accurate mathematical models of the manipulator’s motion. In this work, a mathematical model for the boom of a mobile concrete pump with 5 individual joints is presented. This model takes into account the elastic bending in two directions and the torsion of the boom. To reach a high model accuracy, calibration is required. This is challenging due to the large dimension and the outdoor operation, which makes the accurate measurement of the boom position difficult. A camera-based measurement setup is proposed in this work that is tailored for the considered problem. It is shown by measurements that the model is able to achieve a high accuracy with rather small computational costs.
