Input shaper design for double-pendulum planar gantry cranes

Kenison, Michael; Singhose, William

doi:10.1109/cca.1999.806702

Cited by 41 publications

(16 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…flexible manipulators [12][13][14] and for crane systems [15][16][17]. It can be implemented by developing a convolution process with a delayed sequence of impulses with certain gains to produce a shaped command to drive the system.…”

Section: Input Shaper Implementationmentioning

confidence: 99%

Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Ahmad

Tokhi

Siddique

2010

2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA)

View full text Add to dashboard Cite

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to fourwheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in fourwheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

show abstract

Section: Input Shaper Implementationmentioning

confidence: 99%

Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Ahmad

Tokhi

Siddique

2010

2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA)

View full text Add to dashboard Cite

show abstract

“…If the crane behaves like a single pendulum, experienced crane operators can eliminate much of the residual motion by causing an oscillation during deceleration that cancels the oscillation induced during acceleration. However, for certain types of payloads, the system can behave like a double pendulum [2]. Under these conditions, the manual method of eliminating residual vibration becomes very difficult, even for the most skilled operators.…”

Section: Introduction To Input Shapingmentioning

confidence: 98%

Evaluation and integration of a wireless touchscreen into a bridge crane control system

Suter¹,

Kim

Singhose

et al. 2007

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

View full text Add to dashboard Cite

Human manipulation of suspended payloads using cranes can be difficult. Cable sway is easily induced into the lightly damped system, which inhibits efficient, safe, and accurate payload manipulation. This problem is compounded when the payload forms a double-pendulum configuration. To aid operators, a wireless touchscreen controller was integrated into the control system of a 10-ton industrial bridge crane. This touchscreen allows an operator to move freely around the workspace and drive the crane with a simple graphical user interface. The operational effects of the touchscreen was compared to that of a standard pendent interface through a series of human operator performance studies. An oscillation suppression algorithm was used in conjunction with each interface. The touchscreen provides greater operator mobility while producing comparable manipulation performance.

show abstract

“…Most of the experienced crane operators can eliminate much of the payload sway by causing an oscillation during deceleration that cancels the oscillation induced during acceleration if a crane behaves like a single pendulum. However, certain types of payloads and riggings result in double pendulum dynamics [1,2]. Under these conditions, the manual method of eliminating sway motion becomes very difficult, even for skilled operators.…”

Section: Introductionmentioning

confidence: 99%