Name
Title | ||
|---|---|---|
Swing Attenuation Of Suspended Objects Transported By Robot Manipulator Using Acceleration Compensation |
Abstract | ||
|---|---|---|
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 accderadon compensation principlell]. 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. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/IROS.2007.4399312 | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 |
Keywords | Field | DocType |
motion control,open loop systems,oscillations | Motion control,Compensation principle,Control theory,Simulation,Computer science,Control engineering,Industrial robot,Vertical plane,Acceleration,Horizontal plane,Rope,Swing | Conference |
Citations | PageRank | References |
5 | 0.82 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Suei Jen Chen | 1 | 10 | 1.95 |
| Björn Hein | 2 | 39 | 12.36 |
| Heinz Wörn | 3 | 491 | 106.92 |