Tool-center-point (TCP) control increases the operating comfort of concrete pumps by shifting the control to the task space. The operation is accompanied by various requirements and constraints from the mechanical structure, the hydraulic system, and the operator. They must be taken into account for the efficient and error-free operation of the concrete pump. In this publication, a TCP control algorithm based on constrained quadratic optimization (cQP) is presented, which addresses the requirements and constraints of a mobile concrete pump. The features include boom deformation compensation, multiple operation modes, configuration control, compliant constraints on the joint movement, and hydraulic flow rate constraints. The methods are verified by simulation for a flexible link six degrees of freedom concrete pump. The results include deformation-compensated 2-D/3-D movements of the TCP with different operation modes and configuration control under joint and hydraulic constraints. Note to Practitioners —For effective concrete placement, the tip of the concrete pump needs to move linearly in the task space. Tool-center-point (TCP) control allows the operator to directly specify the tip velocity in the task space instead of separately controlling the axes of the manipulator. In this article, the control task is posed as an inverse kinematic problem, which is solved by quadratic optimization (cQP). The framework of cQP enables the direct inclusion of system constraints while being computational efficient for online implementation on the electronic control unit of the truck. The approach addresses concrete pump specific problems and requirements of the tool center point movement and actuator constraints. Restrictions in the task space are not treated.

中文翻译：

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基于约束二次优化的混凝土泵工具中心点控制

工具中心点（TCP）控制通过将控制移至任务空间来提高混凝土泵的操作舒适性。该操作伴随着机械结构，液压系统和操作员的各种要求和约束。为了使混凝土泵有效且无差错地运行，必须考虑这些因素。在该出版物中，提出了一种基于约束二次优化（cQP）的TCP控制算法，该算法解决了移动混凝土泵的要求和约束。这些功能包括动臂变形补偿，多种操作模式，配置控制，关节运动的顺应性约束以及液压流量约束。通过对挠性连杆六自由度混凝土泵的仿真验证了该方法。执业者注意 —为了有效地放置混凝土，混凝土泵的尖端需要在工作空间内线性移动。刀具中心点（TCP）控制使操作员可以直接在任务空间中指定尖端速度，而不必分别控制操纵器的轴。在本文中，控制任务是一个逆运动学问题，可以通过二次优化（cQP）来解决。cQP框架能够直接包含系统约束，同时在卡车的电子控制单元上在线实现计算效率高。该方法解决了混凝土泵的特定问题以及工具中心点移动和执行器约束的要求。任务空间中的限制未得到处理。