A New Real-Time Iteration Method Based on Geometry for Inverse Kinematics of Truck Mounted Concrete Pump
A new iteration method based on geometry to solve the inverse kinematics for the boom system of truck mounted concrete pump, which is difficult to real-time control since its degrees of freedom are multiple-redundant, is presented. This method uses a variable-step size technique to approach the solution of the inverse kinematics, and uses geometry to determine how much angles of joint to change and its direction. Comparing with the traditional methods, this method is more suitable for real-time control of truck mounted concrete pump boom system without calculating the inverse matrix of jacobian. By the method the movement of boom will be safer and more stable when pumping concrete. Simulation results show that the new method has a fast convergence speed and good stability.
The specification of non-functional requirements, e. g., on timing forms an essential part of modern system design. Modeling languages such as MARTE/CCSL provide dedicated description means enabling engineers to formally define the ticking of the clocks to be implemented in terms of clock constraints and the actually intended timing behavior in terms of instant relations. But thus far, instant relations have only been utilized in order to monitor the correct execution of the clock constraints. In this work, we propose a methodology which, for the first time, verifies clock constraints against the given instant relations. To this end, the timing behavior is represented in terms of an automaton followed by its verification through satisfiability solvers. A case study illustrates the application of the proposed methodology.