Abstract:
This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppresses the swing motion of the load while the ...Show MoreMetadata
Abstract:
This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppresses the swing motion of the load while the crane carries the load to a desired position. The analysis includes the nonlinear dynamics of the crane and 2D swing motion of the load, but the controller does not require the exact model of the crane nor payload. Using joint acceleration and one sampled delay torque, the crane system is decoupled and then a linear controller is designed for both the crane motion and the load swing independently. Stability of the controller is proved and a simulation study is performed to show its effectiveness.
Date of Conference: 28-30 June 2000
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-5519-9
Print ISSN: 0743-1619
Citations are not available for this document.
Cites in Papers - |
Cites in Papers - IEEE (3)
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1.
Jianhong Zhang, Dongbin Zhao, Jianqiang Yi, Yi Yu, "Modeling of a Rope-Driven Self-Levelling Crane", 2008 3rd International Conference on Innovative Computing Information and Control, pp.489-489, 2008.
2.
Suei Jen Chen, Bjorn Hein, Heinz Worn, "Swing attenuation of suspended objects transported by robot manipulator using acceleration compensation", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2919-2924, 2007.
3.
J.Y. Lew, B. Halder, "Experimental study of anti-swing crane control for a varying load", Proceedings of the 2003 American Control Conference, 2003., vol.2, pp.1434-1439, 2003.
Cites in Papers - Other Publishers (3)
1.
G. Boschetti, R. Caracciolo, D. Richiedei, A. Trevisani, "A Non-Time Based Controller for Load Swing Damping and Path-Tracking in Robotic Cranes", Journal of Intelligent & Robotic Systems, vol.76, no.2, pp.201, 2014.
2.
Saeid Nahavandi, Mohammad Jashim Uddin, Mozafar Saadat, Hieu Trinh, "Heavy tools manipulation by low powered direct-drive five-bar parallel robot", Mechanism and Machine Theory, vol.43, no.11, pp.1450, 2008.
3.
Toshiaki Tsuji, Kouhei Ohnishi, "Oscillation Control of Suspended Load with Flywheels", IEEJ Transactions on Industry Applications, vol.125, no.6, pp.548, 2005.
