Name
Abstract | ||
|---|---|---|
In this paper, a vertical power-assisted crane system is proposed. The purpose of this research is to develop a crane system which reduces the operator's burden by power-assisted functions and facilitates the intuitive operation of a heavy object by direct manual manipulation. First, the structure of this system is described, and an analytical optimal controller is designed to stabilize the system under the model uncertainty and to optimize response. Second, "the limit-cycle problem" when an object contacts the ground is pointed out, and the condition for the attenuation of the limit-cycle is discussed. Finally, the usefulness of the proposed controller is demonstrated by an actual power-assisted crane system |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.282448 | Beijing |
Keywords | Field | DocType |
assembling,cranes,limit cycles,optimal control,stability,uncertain systems,assembly line workers,limit-cycle problem,model uncertainty,optimal control,stability,vertical power-assisted crane system | Control theory,Optimal control,Control theory,Computer science,Absolute stability,Control engineering,Operator (computer programming),Attenuation,Uncertain systems | Conference |
ISBN | Citations | PageRank |
1-4244-0259-X | 1 | 0.40 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takanori Miyoshi | 1 | 52 | 20.65 |
| Hideto Kojima | 2 | 1 | 0.40 |
| Kazuhiko Terashima | 3 | 100 | 33.03 |