Motion planning in crane simulator based on field acceleration measurement

The motion that the crane simulator renders through the motion simulation platform, usually a 6-DOF Steward platform, can be divided into two types, the large-scale one and small-scale one. The later refers to the oscillation that the driver feels when he is operating the machine. In order to obtain the driving function to make the motion platform to render the motion of such small-scale type, it is required to find the displacement curve of the crane cab in typical working scenarios. One of effective methods is to perform integral operations twice successively using the acceleration signals dedicatedly collected in field. Based on applicability analysis to existent acceleration integration methods, the FFT(Fast Fourier Transform)-based integral method in frequency domain is then adopted in this study and its basic principle with some considerations for motion planning in crane simulator is illustrated. A comprehensive case study is elaborated to show how to successfully use the proposed method to obtain the corresponding displacement curve for driving the simulator motion platform according to the acceleration signals acquired through field tests at some point near to the crane driver chair at the condition with full loads.