Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process
The objective of this work is first to present the kinematics modelling of an aerobridge for the application of automated aerobridge docking process to the aircraft, which will solve the manpower shortage issues as well as prevent the damage to aircraft due to human error in manual operation. As the...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2017
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| Online Access: | https://hdl.handle.net/10356/82113 http://hdl.handle.net/10220/42707 |
| _version_ | 1811686370424389632 |
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| author | Huang, YunYun Wang, Jianliang Tham, Desmond Mark |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Huang, YunYun Wang, Jianliang Tham, Desmond Mark |
| author_sort | Huang, YunYun |
| collection | NTU |
| description | The objective of this work is first to present the kinematics modelling of an aerobridge for the application of automated aerobridge docking process to the aircraft, which will solve the manpower shortage issues as well as prevent the damage to aircraft due to human error in manual operation. As the aerobridge is a complex system which involves five active DOFs and four free DOFs, we have proposed an alternative solution of kinematics modelling for this higher order systems. And then the numerical solutions for the inverse kinematics equations are obtained using MATLAB and the kinematic modelling of the aerobridge is validated successfully through the motion simulation using ADAMS. The control schemes of the aerobridge docking process are proposed based on (1) Home position to Pre-set position, and (2) Pre-set position to Target position, which are developed in MATLAB/Simulink. Co-simulation model is established based on ADAMS/Control and MATLAB/Simulink, which is used for modelling & design of the control systems, and also for visualizing and validating the aerobridge docking process. |
| first_indexed | 2024-10-01T04:59:20Z |
| format | Conference Paper |
| id | ntu-10356/82113 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:59:20Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | ntu-10356/821132020-03-07T13:24:44Z Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process Huang, YunYun Wang, Jianliang Tham, Desmond Mark School of Electrical and Electronic Engineering 2017 3rd International Conference on Control, Automation and Robotics (ICCAR) Robotics Kinematics modelling The objective of this work is first to present the kinematics modelling of an aerobridge for the application of automated aerobridge docking process to the aircraft, which will solve the manpower shortage issues as well as prevent the damage to aircraft due to human error in manual operation. As the aerobridge is a complex system which involves five active DOFs and four free DOFs, we have proposed an alternative solution of kinematics modelling for this higher order systems. And then the numerical solutions for the inverse kinematics equations are obtained using MATLAB and the kinematic modelling of the aerobridge is validated successfully through the motion simulation using ADAMS. The control schemes of the aerobridge docking process are proposed based on (1) Home position to Pre-set position, and (2) Pre-set position to Target position, which are developed in MATLAB/Simulink. Co-simulation model is established based on ADAMS/Control and MATLAB/Simulink, which is used for modelling & design of the control systems, and also for visualizing and validating the aerobridge docking process. NRF (Natl Research Foundation, S’pore) Accepted version 2017-06-15T03:29:53Z 2019-12-06T14:46:52Z 2017-06-15T03:29:53Z 2019-12-06T14:46:52Z 2017 2017 Conference Paper Huang, Y., Wang, J., & Tham, D. M. (2017). Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process. 2017 3rd International Conference on Control, Automation and Robotics (ICCAR), 304-309. https://hdl.handle.net/10356/82113 http://hdl.handle.net/10220/42707 10.1109/ICCAR.2017.7942708 198170 en © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [https://doi.org/10.1109/ICCAR.2017.7942708]. application/pdf |
| spellingShingle | Robotics Kinematics modelling Huang, YunYun Wang, Jianliang Tham, Desmond Mark Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title | Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title_full | Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title_fullStr | Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title_full_unstemmed | Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title_short | Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process |
| title_sort | kinematics modelling and adams matlab simulink co simulation for automated aerobridge docking process |
| topic | Robotics Kinematics modelling |
| url | https://hdl.handle.net/10356/82113 http://hdl.handle.net/10220/42707 |
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