Rapid transport of suspended payloads

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1394-1399

  Starr, Gregory ^a   Wood, John ^a   Lumia, Ron ^a  

^a MSC01 1070   (United States)

Author keywords

Flexible; Trajectory; Transport; Vibration

Indexed keywords

DYNAMIC PROGRAMMING; MANIPULATORS; MOTION PLANNING; OPTIMIZATION; PARAMETER ESTIMATION; VIBRATIONS (MECHANICAL);

IMPULSE CONVOLUTION; MECHANICAL FLEXIBILITY; OBJECT TRANSPORT; TRAJECTORY PARAMETERS;

MOBILE ROBOTS;

EID: 33846181360     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570310     Document Type: Conference Paper

References (22)

1. O. J. M. Smith, "Posicast Control of Damped Oscillatory Systems," Proceedings of the IRE, pp. 1249-1255, 1957.
2. G. P. Starr, "Swing-Free Transport of Suspended Objects with a Path-Controlled Robot Manipulator," ASME Journal of Dynamic Systems, Measurement, and Control, v. 107, March 1985.
3. D. R. Strip, "Swing-Free Transport of Suspended Objects: A General Treatment," IEEE Transactions on Robotics and Automation, v.5, n.2, April 1989.
4. N. C. Singer and W. P. Seering, "Preshaping Command Inputs to Reduce System Vibration," ASME Journal of Dynamic Systems, Measurement, and Control, v. 112, March 1990.
5. M. W. Noakes and J. F. Jansen, "Generalized Inputs for Damped-Vibration Control of Suspended Payloads," Robotics and Autonomous Systems, v.10, 1992.
6. K. Cleary, L. Nguyen, and H. Frisch, "A Demonstration of Vibration Reduction for a Flexible Beam using Input Shaping," Proc. 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, Raleigh, NC, July 1992.
7. L. Y. Pao, T. N. Chang, and E. Hou, "Input Shaper Designs for Minimizing the Expected Level of Residual Vibration in Flexible Structures," Proc. 1997 American Control Conference, Albuquerque, NM, June 1997.
8. W. E. Singhose, L. J. Porter, T. D. Tuttle, and N. C. Singer, "Vibration Reduction Using Multi-Hump Input Shapers," ASME Journal of Dynamic Systems, Measurement, and Control, v. 119, June 1997.
9. C. F. Cutforth and L. Y. Pao, "Analysis and Design of an Adaptive Input Shaper for the Control of Flexible Structures," Proc. 2002 American Control Conference, Anchorage, AK, May 2002.
10. M. Kenison and W. Singhose, "Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control," ASME Journal of Dynamic Systems, Measurement, and Control, v. 124, September 2002.
11. R. Smith, G. Starr, R. Lumia, and J. Wood, "Preshaped Trajectories for Residual Vibration Suppression in Payloads Suspended from Multiple Robot Manipulators," Proc. 2004 IEEE Int'l. Conf. on Robotics and Automation, New Orleans, LA, May 2004.
12. M. Kenison and W. Singhose, "Input Shaper Design for Double-Pendulum Planar Gantry Cranes," Proc. 1999 IEEE International Conference on Control Applications, Hawai'i, USA, August 1999.
13. J. Y. Smith, K. Kozak, and W. Singhose, "Input Shaping for a Simple Nonlinear System," Proc. 2002 American Control Conference, Anchorage, AK, May 2002.
14. T. Singh and W. Singhose, "Tutorial on Input Shaping/Time Delay Control of Maneuvering Flexible Structures," Proc. 2002 American Control Conference, Anchorage, AK, May 2002.
15. G. G. Parker, B. Petterson, C. R. Dohrmann, and R. D. Robinett, "Vibration Suppression of Fixed-Time Jib Crane Maneuvers," Sandia National Laboratories report SAND95-0139C, 1995.
16. M. J. Agostini et al, "Multiple-Axis Boom Crane Maneuver Generation for Payload Swing Suppression," Proc. 2001 American Control Conference, Arlington,VA, June 2001.
17. M. J. Agostini, G. G. Parker, H. Schaub, K. Groom, and R. D. Robinett, "Generating Swing-Suppressed Maneuvers for Crane Systems with Rate Saturation," IEEE Trans. on Control Systems Technology, v.11, n.4, July 2003.
18. MSC.ADAMS, www.mscsoftware.com.
19. G. G. Parker, B. Petterson, C. R. Dohrmann, and R. D. Robinett, "Command Shaping for Residual Vibration Free Crane Maneuvers," Proc. 1995 American Control Conference, Seattle, WA, June 1995.
20. R. E. Bellman, Dynamic Programming, Princeton University Press, New Jersey, 1957.
21. L. Cooper and M. W. Cooper, Introduction to Dynamic Programming, Pergamon Press, 1982.
22. R. Robinett et al, Flexible Robot Dynamics and Control, IFSR Int'l. Series on Systems Science and Engineering, v. 19, Kluwer Academic Publishers, 2002.