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Modelling and calibration of a five link elastic boom of a mobile concrete pump

Author

Listed:
  • M. Meiringer
  • A. Kugi
  • W. Kemmetmüller

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.

Suggested Citation

  • M. Meiringer & A. Kugi & W. Kemmetmüller, 2023. "Modelling and calibration of a five link elastic boom of a mobile concrete pump," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 29(1), pages 41-68, December.
    • Handle: RePEc:taf:nmcmxx:v:29:y:2023:i:1:p:41-68
    DOI: 10.1080/13873954.2023.2177311
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