Name
Abstract | ||
|---|---|---|
The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate pay-loads quickly, accurately, and safely. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. This paper presents an input-shaping control method for suppressing double-pendulum payload oscillations. Local and tele-operation experiments performed on a portable tower crane are used to verify the effectiveness of the method. Data from these experiments show that operators performed manipulation tasks faster and safer when input shaping was utilized to reduce payload sway. Furthermore, the tele-operation delays did not degrade the input shaping effectiveness. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.364180 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
payloads,motion control,oscillations,telerobotics,mechanical engineering,degradation | Teleoperation,Motion control,Tower,Control theory,Simulation,Double pendulum,Control engineering,Operator (computer programming),Engineering,Input shaping,Telerobotics,Payload | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
7 | 1.53 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| William Singhose | 1 | 16 | 6.46 |
| Dooroo Kim | 2 | 7 | 1.53 |