Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process

• Main Authors: Huang, YunYun, Wang, Jianliang, Tham, Desmond Mark
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2017
• Subjects: Robotics; Kinematics modelling
• Online Access: https://hdl.handle.net/10356/82113; http://hdl.handle.net/10220/42707
• Institution: Nanyang Technological University

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.