Swing attenuation of suspended objects transported by robot manipulator using acceleration compensation

During the rapid transfer of freely suspended loads, hazardous swing oscillations may be produced. In order to deal with this problem, we propose a new methodology, which derives immediately from the acceleration compensation principle[1]. It consists basically of modifying the original reference-trajectory comprised by a set of suspension points, with the purpose to compensate undesirable residual swing effects at the end of the transfer motion. This open-loop method is computationally simple, time-efficient and feasible. In contrast to the popular methods utilized to control the overhead cranes, which traveling motions are restricted only in the horizontal plane, our compensation technique involves as well the motion in vertical plane. The rope length is assumed invariant. A set of simulations and experimental verifications using an industrial robot manipulator KUKA KR 16 have been carried out to demonstrate the feasibility of the proposed solution.

I. Introduction

HIGH-SPEED transportations of freely suspended payloads using cranes or robots are today widely spread in the area of advanced industrial operations. In order to satisfy the increasing global consumption, the transfer and delivery of products to the desired destination aims to be performed as fast as possible.