An automated gantry crane as a large workspace robot

Sawodny, Oliver; Aschemann, Harald; Lahres, Stephan

doi:10.1016/s0967-0661(02)00097-7

Cited by 125 publications

(56 citation statements)

References 16 publications

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“…Various types of control schemes have been developed for crane control, including optimal control (1) - (4) , gain scheduling control (5) - (7) , sliding mode control (8) - (10) , adaptive control (11) , back-stepping control (12) , input-shaping control (13) , disturbance observer based control (14) , and nonlinear control based on the Lyapunov stability theorem (15) - (17) .…”

Section: Introductionmentioning

confidence: 99%

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

Ouyang

Uchiyama

Sano

2011

JSDD

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Generally, both horizontal and vertical boom motion must be used to suppress the load sway caused by horizontal boom motion of a rotary crane. However, it would be less energy intensive and also safer if a control scheme could be developed that only used horizontal boom motion, i.e., without the need for any vertical boom motion. In addition, if load sway can be suppressed without measuring it, reduction in sensor cost can be achieved. Furthermore, employing simple velocity trajectory patterns such as trapezoidal and S-curve patterns, which are widely used in industrial automation systems, may provide cost effective controller implementation. This study presents a simple S-curve trajectory generation method for rotary crane motion that can suppress residual load sway using only horizontal boom motion without load sway sensing. Numerical simulations and experimental results demonstrate the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

Ouyang

Uchiyama

Sano

2011

JSDD

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“…In the following several examples for symmetric and asymmetric trajectories are provided and it will be shown that the proposed algorithm is able to reproduce the time optimality of the constant jerk method as well as the continuously differentiable jerk trajectories of the algorithm proposed by Sawodny et al [11,13]. In Fig.…”

Section: Implementation Aspects and Performance Analysismentioning

confidence: 89%

Asymmetric motion profile planning for nanopositioning and nanomeasuring machines

Amthor

Werner

Lorenz

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents an analytic fourth-order trajectory planning algorithm, which is able to plan asymmetric motions with arbitrary initial and final velocities. Furthermore, the proposed algorithm is based on a set of quadratic derivates of jerk (djerk) functions and generates continuously differentiable trajectories in jerk, acceleration, velocity, and position under consideration of kinematic constraints in all these kinematical values. The trajectories planned by the algorithm also have time-optimal characteristics, and a synchronization between the three motion axes of the Cartesian coordinate system is ensured by the proposed method. These characteristics make it ideally suited for use as a trajectory planning algorithm in high-precision applications such as nanopositioning and nanomeasuring machines.

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“…Cranes and material handling systems are typical examples of systems that require residual vibration suppression, and their controller design have been widely studied, such as optimal control [1]- [5], gain scheduling control [6]- [8], sliding mode control [9]- [11], adaptive control [12], back-stepping control [13], input-shaping control [14], disturbance observer based control [15], nonlinear control based on the Lyapunov stability theorem [16], [17], and rotary crane control using only boom-horizontal motion [18]- [22]. Feed drive tables also require control systems that can suppress undesirable vibration [23].…”

Section: Introductionmentioning

confidence: 99%

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

Uchiyama

Sano

Haneda

2015

SICE Journal of Control, Measurement, and System Integration

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: This paper proposes motion-trajectory generation for mechanical systems that can be widely used in industrial applications. Many industrial systems, such as feed drive tables, gantry cranes, and material handling systems, are operated using S-curve acceleration and deceleration trajectory, and simple controllers that allow only such a simple motion trajectory are employed from the viewpoints of controller hardware and implementation cost efficiency. This study deals with simple mechanical dynamics including vibration properties and derives a necessary and sufficient condition for the motion trajectory to suppress residual vibration. Simulation and experimental results demonstrate the validity of the proposed conditions.

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An automated gantry crane as a large workspace robot

Cited by 125 publications

References 16 publications

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion

Asymmetric motion profile planning for nanopositioning and nanomeasuring machines

Residual Vibration Suppression Using Simple Motion Trajectory for Mechanical Systems

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