ArticleFrontiers in robotics and AI2024
Optimal sway motion reduction in forestry cranes.
Article in Frontiers in robotics and AI, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed.
- Reduced-order state-space reformulation for task-space predictive control of an under-actuated hydraulic boom.Frontiers in robotics and AI · 2026Article
Corrections and comments
- Erratum issued
Authors and funding
2 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Introduction: The paper introduces a novel optimal feedforward controller for Hydraulic manipulators equipped with a passive grapple, addressing the issue of sway during and after movement. The controller is specifically applied to a forwarder machine used in forestry for log-loading tasks. Methods: The controller is designed for smooth operation, low computational demands, and efficient sway damping. Customizable parameters allow adjustments to suit operator preferences. The implementation was carried out using the Amesim model of a forwarder. Results: Simulation results indicate a significant reduction in sway motions, averaging a decrease of more than 60%. This performance was achieved without the need for additional sway-detection sensors, which simplifies the system design and reduces costs. Discussion: The proposed method demonstrates versatility and broad applicability, offering a new framework for anti-sway controllers in various fields such as construction cranes, forestry vehicles, aerial drones, and other robotic manipulators with passive end-effectors. This adaptability could lead to significant advances in safety and efficiency.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.