MECHATRONICS ENGINEERING DEPARTMENT

Mini Project
Code/Name Course : EK407 Robotic Systems
Semester : Jan-April 2022
Submission : To be submitted as PDF file via MT Tab by 1 April 2022 :
Name/ID 1. Teh Boon Hong 1001955365
2. Abdirisak Mubarik 1001852503
3. Ng Weng Kent 1001955294

CLO1 CLO2 CLO3 CLO4 CLO5

Assessment
PLO2

Midterm √

Upon completion of this module, the student will be able to:

CLO4: Analyze the dynamics for multi degree-of-freedom robots and trajectory
planning of robot manipulator. (C4, PLO2)
PROBLEM ANALYSIS - identify, formulate, research literature and analyse
PLO 2 complex engineering problems reaching substantiated conclusions using first
principles of mathematics, natural sciences and engineering sciences

Marks
Mini Project obtained

Total mark contribution

(10%)
Introduction

Rotary cranes are commonly used in many applications such as transporting

heavy loads and hazardous materials in shipyards, factories, nuclear
installations, and high building constructions. Figure 1 shows an example of
rotary crane. The simplified model of a rotary crane is shown in Figure 2 as
shown in many literatures including in [1]. This reference is open access
on internet. The purpose of dynamic modelling for rotary crane is often to
develop automatic anti-swing control of crane system.

Figure 1. A rotary crane

Figure 2. A simplified model of a rotary crane

-end-
Rotary Crane Model of Lagrange Calculation
MATLAB SIMULATION
Input Parameters

Figure 1: The mass of lifting load and jib crane.

Figure 2: Simulation input parameters.

In the simulation, the lifting load used is m2 with 63 kg (maximum), and the jib
crane mass is m1 with 111 kilograms from the online crane datasheet. Next, the r refers to the
jib crane length assumed as 5 meters, and the cable length, l, is around 2 meters. The input
torque is considered as 500 Nm. The gravitational acceleration is constant at 9.81 m/s2.

Figure 3: Input steps signal of force.

Result and Discussion

Figure 4: The oscillation of the jib crane end effector.

Figure 5: The oscillation of the jib crane trolley.

The results from figures 4 and 5 show a high overshoot of amplitude at the first 2.5
seconds, and the oscillation continues in the opposite direction, which has a lower amplitude.
The oscillation amplitude is different in both graphs mainly due to the weight of the respective
component. Both graphs show that the mass is directly proportional to the oscillation amplitude;
as the mass increases, the oscillation amplitude will be larger. As a result, the oscillation
amplitude gradually decreases, which indicates the loss of energy and reaching a steady state
at 25 seconds. The loss of energy could be due to gravitational force, air resistance, joint friction
force, etc.

The oscillation generated from the rotating crane can be dangerous as it might hit or clash
with another external object when the oscillation gets larger. Thus, Omar (2003) proposed an
anti-swing design of a tower crane based on two approaches. The first approach is a gain-
scheduling feedback controller that mainly reduces the large oscillation by moving the load
from one point to point within one oscillation cycle. The gain- scheduling feedback controller
requires calculating varying load weight and cable length. Next, the second approach is to
design two controllers independently; a tracker controller and an anti-swing controller. The
function of the anti-swing controller is to decrease the load swing, whereas the tracker
controller is responsible for making the trolley to follows a reference position trajectory. For
tracking, the controller is designed with PD-controller, but the anti-swing controller got three
different techniques which are stated as follow:

1. A classical PD controller
2. Two controllers based on a delayed-feedback technique
3. The fuzzy logic controller maps the delayed-feedback controller performance.

Conclusion

In conclusion, students have successfully derived the rotary crane model using Lagrange
mechanics and performed the simulation of the rotary crane system using the obtained model
from Lagrange mechanics in the Simulink environment. AS a result, both graphs show similar
properties to indicate the oscillation swig of the rotary crane, and eventually, the oscillation
reached a steady state that can be explained as the loss of energy to the environment. Lastly,
students learned and enhanced their derivative skills in the mathematical model of Lagrange
mechanics and their simulation skills from the Simulink, which will benefit students in their
final year project for related titles.
References

Alhassan, A., Mohamed, Z., Abdullahi, A. M., Bature, A. A., Haruna, A., & Tahir, N. M.
(2018). Input shaping techniques for sway control of a rotary crane system. Jurnal
Teknologi, 80(1), 61–69. https://doi.org/10.11113/jt.v80.10297
Doçi Ilir, P., & Lajqi Shpetim, P. (n.d.). ROTATIONAL MOTION OF TOWER CRANE-
DYNAMIC ANALYSIS AND REGULATION USING SCHEMATIC MODELING.
Omar, H. M. (2003). Control of Gantry and Tower Cranes Air Conditiong System control of
Hyprid Car Using Solar Energy View project.
https://www.researchgate.net/publication/242515562
 FACULTY OF ENGINEERING
MECHANICAL ENGINEERING DEPARTMENT
MINI PROJECT ASSESSMENT
EK407 Robotic Systems
Student Name Student ID
1. Teh Boon Hong 1001955365
2. Abdirisak Mubarik 1001852503
3. Ng Weng Kent 1001955294

Criteria Unacceptable Satisfactory Moderate Good Excellent Score

(0%) (25%) (50%) (75%) (100%)
Simulation No simulation Simulation model Simulation model Simulation model Simulation model
model model is submitted. does not somewhat represents the represents the
(10 points) represent the represents the case study. case study very
case study. case study. well.

Results: No results are Results and Results and Results and Results and
Knowledge written in the analysis do not analysis are given analysis are given analysis are given
and Analysis report. properly but missing some but missing little clearly; all steps
(30 points) demonstrate the information; some information; few are complete and
steps taken in the steps are steps are NO error appears.
solution. incomplete, and incomplete and
error appears. minor error
appears.
Results: No figures, graphs, Figures, graphs, Most figures, All figures, All figures, graphs,
Data, figures, tables are tables contain graphs, tables graphs, tables are tables are
graphs, provided. errors or are OK, some still correctly drawn, correctly drawn,
tables, etc. poorly missing some but some have are numbered and
(20 points) constructed, have important or minor problems or contain
missing titles, required features. could still be titles/captions.
captions or improved.
numbers, units
missing or
incorrect, etc.

Effective 01.01.2020
Discussion/ Incomplete and Incomplete / Some of the Almost all of the Important trends
Observation incorrect incorrect results have been results have been and data
(30 points) interpretation of interpretation of correctly correctly comparisons have
trends and trends and interpreted and interpreted and been interpreted
comparison of data comparison of discussed; Partial discussed; only correctly and
indicating a lack of data. but incomplete minor discussed; good
understanding of understanding of improvements are understanding of
the results. results is still needed. results is
evident. conveyed.
Appearance Appearance and Sections out of Sections in order; Lab report is Lab report is typed
and formatting totally order, report is not Formatting is mostly typed / / written in well
formatting inappropriate. typed / written rough but written using the formatted, very
(5 points) using the readable. Appropriate readable.
appropriate format, all
format. sections in order,
formatting
generally good but
could still be
improved.
Spelling, Grammar / spelling Frequent Occasional Less than 3 All grammar /
grammar, error, writing style grammar and / or grammar / spelling grammar / spelling spelling are
sentence is rough and spelling errors. errors, generally errors, mature, correct and very
structure immature. readable with readable style. well written.
(5 points) some rough spots
in writing style.

Total Mark (100)

Effective 01.01.2020