@inproceedings{b464c247f01a41abb21279e1eb16f4c4,
title = "Kinematics modelling and ADAMS MATLAB/Simulink co-simulation for automated aerobridge docking process",
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.",
keywords = "Co-simulation, Control, Industrial automation, Kinematics modelling, Robotics",
author = "Yunyun Huang and Jianliang Wang and Tham, {Desmond Mark}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 ; Conference date: 22-04-2017 Through 24-04-2017",
year = "2017",
month = jun,
day = "7",
doi = "10.1109/ICCAR.2017.7942708",
language = "English",
series = "2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "304--309",
booktitle = "2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017",
address = "United States",
}