The transport process automation of industrial plants with industrial forklifts is dealt with. In particular, a forklift has been completely automated based on external and internal sensors and using a PLC (Programmable Logical Controller). A specific hardware architecture has been implemented and tested using a teleoperation and a data monitoring application. Control software architecture includes the low level control algorithms decompounded by three control loops: position control of the steering wheel; speed control of the rear wheels and Cartesian position control of the whole vehicle. A Kalman filter for position estimation has been also implemented and validated. Finally, a teleoperation and a data monitoring application is described as a way of validating the implemented platform.


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    Title :

    Transport process automation with industrial forklifts


    Additional title:

    Automatisierung des Transportprozesses mit Industriegabelstaplern


    Contributors:


    Publication date :

    2003


    Size :

    6 Seiten, 8 Bilder, 5 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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