Inverse dynamics and control of crane-type manipulator

Yamamoto, Masahito; Yanai, N.; Mohri, Akira

doi:10.1109/iros.1999.812847

Cited by 35 publications

(19 citation statements)

References 5 publications

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“…For inverse-kinematics, the position y 1p y 2p of the end-effector is known and it is desired to determine the necessary cable lengths l i to attain that position. Since the system is redundant, as in Yamamoto et al (1999), inverse kinematics requires the cable orientations or in this case i (obtained later in this paper from the force optimization). Now l i can be calculated as follows.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…Many designs have been built or proposed (both fully constrained and underconstrained) for spanning applications from camera platforms (Thompson and Blackstone, 2005;Rodnunsky, 2006) to advanced cranes (Albus et al, 1993;Yamamoto et al, 1999) and haptic interfaces (Williams, 1998;Zitzewitz et al, 2009). They have been designed for search and rescue (Bosscher et al, 2005), vehicle simulation (Usher et al, 2005), high-speed motion (Maeda et al, 1999;Kawamura et al, 1995), and rehabilitation (Mayhew et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

“…Alternatively, placing the actuators on slides like an overhead gantry system was proposed in Yamamoto et al (1999).…”

Section: Introductionmentioning

confidence: 99%

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Optimal Force Generation for an Underconstrained Planar Cable Robot

Donohoe

Velinsky

Lasky

2014

Mechanics Based Design of Structures and Machines

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This paper presents a planar, underconstrained cable robot designed to operate on the vertical face of overhead roadway signs. The cables that actuate the robot extend over a set of rotatable pulley arms mounted at the top corners of the sign. The redundant degrees of freedom due to the pulley arms allow for improved force generation ability of the robot at all desired locations on the sign. Redundancy is resolved by optimizing the anisotropic force generated in a desired direction. There are four distinct solution regimes dependent on the desired force angle. Of the four solution regimes, two are constraint-bound solutions for each cable force and the complementary cable angle based on monotonicity analysis. The two additional solutions are constraint-bound in the cable angles resulting in a fixed geometry, and the well-known attainable force set solution is applied.

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Section: Inverse Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Optimal Force Generation for an Underconstrained Planar Cable Robot

Donohoe

Velinsky

Lasky

2014

Mechanics Based Design of Structures and Machines

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“…In the robotics literature, multi-cable cranes have been studied extensively [1][2][3]. These advanced cranes can transport heavy objects by coordinating multiple winches that control the lengths of the multiple cables.…”

Section: Previous Workmentioning

confidence: 99%

The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation

Cunningham

Asada

2009

2009 IEEE International Conference on Robotics and Automation

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A simple, compact, yet powerful robotic winch, called "Winch-Bot," is presented in this thesis. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented.

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“…Shanmugasundram and Moon [9] present a dynamic model of a parallel link crane with positioning and orientation capabilities, with unilateral cable constraints. Yamamoto et al [14] propose a cranetype parallel mechanism with three active cables for handling heavy objects. Shiang et al [10] present a parallel four-cable positioning crane for offshore loading and unloading of cargo vessels under high sea states.…”

Section: Introductionmentioning

confidence: 99%