Kinematics modelling and ADAMS MATLAB/Simulink co-simulation for automated aerobridge docking process

Yunyun Huang, Jianliang Wang, Desmond Mark Tham

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

11 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages304-309
Number of pages6
ISBN (Electronic)9781509060870
DOIs
Publication statusPublished - 7 Jun 2017
Externally publishedYes
Event3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan
Duration: 22 Apr 201724 Apr 2017

Publication series

Name2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

Conference

Conference3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Country/TerritoryJapan
CityNagoya
Period22/04/1724/04/17

Keywords

  • Co-simulation
  • Control
  • Industrial automation
  • Kinematics modelling
  • Robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Control and Systems Engineering

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