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Title: Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process
Authors: Huang, YunYun
Wang, Jianliang
Tham, Desmond Mark
Keywords: Robotics
Kinematics modelling
Issue Date: 2017
Source: 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.
Conference: 2017 3rd International Conference on Control, Automation and Robotics (ICCAR)
Abstract: 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.
DOI: 10.1109/ICCAR.2017.7942708
Schools: School of Electrical and Electronic Engineering 
Rights: © 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: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
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