Manipulation with tower cranes exhibiting double-pendulum oscillations

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4550-4555

  Singhose, William ^a   Kim, Dooroo ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

HUMAN OPERATORS; PAYLOADS; PENDULUM OSCILLATIONS;

CONTROL SYSTEMS; PENDULUMS; SECURITY SYSTEMS;

TOWER CRANES;

EID: 36349008212     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364180     Document Type: Conference Paper

References (27)

1. J.W. Auernig and H. Troger, "Time optimal, control of overhead cranes with hoisting of the load," Automatica, vol. 23, no. July, pp. 437-446, 1987.
2. A. R. Golafshani and J. D. Aplevich, "Computation of time-optimal. trajectories for tower cranes," in IEEE Conf. on Control Apps., 1995, pp. 1134-1139.
3. Y. Sakawa and Y. Shindo, "Optimal control of container cranes," Automatica, vol. 18, no. 3, pp. 257-66, 1982.
4. K. A. F. Moustafa and A. M. Ebeid, "Nonlinear modeling and control. of overhead crane load sway," Transactions of the ASME, vol. 110, no. September, pp. 266-271, 1988.
5. H. Butler, G. Honderd, and J. V. Amerongen, "Model reference adaptive control of a gantry crane scale model," IEEE Control Systems, vol. 11, no. January, pp. 57-62, 1991.
6. K. Sato and Y. Sakawa, "Modeling and control of a flexible rotary crane," Int. Journal of Control, vol. 48, no. 5, pp. 2085-2105, 1988.
7. K. Sorensen, W. Singhose, and S. Dickerson, "A controller enabling precise positioning and sway reduction in bridge and gantry cranes," Accepted to Control Engineering Practice.
8. M. Kenison and W. Singhose, "Input shaper design for double-pendulum planar gantry cranes," in IEEE Conference on Control Applications, Hawaii, 1999, pp. 539-44.
9. N. C. Singer and W. P. Seering, "Preshaping command inputs to reduce system vibration," J. of Dynamic Sys., Measurement, and Control, vol. 112, pp. 76-82, 1990.
10. O. J. M. Smith, Feedback Control Systems. New York: McGraw-Hill Book Co., Inc., 1958.
11. G. P. Starr, "Swing-free transport of suspended objects with a path-controlled robot manipulator," J. of Dynamic Systems, Measurement and Control, vol. 107, pp. 97-100, 1985.
12. M.. W. Noakes and J. F. Jansen, "Generalized inputs for dampedvibration control of suspended payloads," Robotics and Autonomous Systems, vol. 10, pp. 199-205, 1992.
13. N. Singer, W Singhose, and E. Kriikku, "An input shaping controller enabling cranes to move without sway," in ANS 7th Topical Meeting on Robotics and Remote Systems, vol. 1, Augusta, GA, 1997, pp. 225-31.
14. W Singhose, L. Porter, M. Kenison, and E. Kriikku, "Effects of hoisting on the input shaping control of gantry cranes," Control Engineering Practice, vol. 8, no. 10, pp. 1159-1165, 2000.
15. A. Khalid, J. Huey, W. Singhose, and J. Lawrence, "Human, operator performance testing using an input-shaped bridge crane," ASME J. of Dynamic Systems, Measurement, and Control, vol. 128, no. 4, pp. 835-841, December 2006.
16. J. Lawrence and W. Singhose, "Design of minicrane for education and research," in 6th Int. Conference on Research and Education in Mechatronics, Annecy, France, 2005.
17. J. Lawrence, W. Singhose, R. Weiss, A. Erb, and U. Glauser, "An internet-driven tower crane for dynamics and controls education," in IFAC Symp. on Control Education, Madrid, 2006.
18. R. Blevins, Formulas for Natural Frequency and Mode Shape. New York, NY: Van Nostrand Reinhold Co., 1979.
19. J. Hyde and W. Seering, "Using input command pre-shaping to suppress multiple mode vibration," in IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, 199.1, pp. 2604-2609.
20. W. E. Singhose, E. A. Grain, and W. P. Seering, "Convolved and simultaneous two-mode input shapers," IEE Control Theory and Applications, vol. 144, no. Nov., pp. 515-520, 1997.
21. L. Y. Pao, "Multi-input shaping design for vibration reduction," Automatica, vol. 35, no. 1, pp. 81-89, 1999.
22. T. Singh and S. R. Vadali, "Robust time-delay control," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 115, pp. 303-6, June 1993.
23. W Singhose, W Seering, and N. Singer, "Residual vibration, reduction using vector diagrams to generate shaped inputs," ASME J. of Mechanical Design, vol. 116, no. June, pp. 654-659, 1994.
24. W Singhose, N. Singer, and W Seering, "Time-optimal negative input shapers," ASME J. of Dynamic Systems, Measurement, and Control, vol. 119, no. June, pp. 198-205, 1997.
25. W Singhose, W. Seering, and N. Singer, "Input shaping for vibration reduction with specified insensitivity to modeling errors," in JapanUSA Sym. on Flexible Automation, vol. 1, Boston, MA, 1996, pp. 307-13.
26. D. Kim and W. Singhose, "Reduction of double-pendulum bridge crane oscillations," in 8th International Conference on Motion and Vibration Control, 2006.
27. J. Huey, H. B. Haraldsson, J. Fortier, S. Wolff, W. Singhose, S. K. Sasaki, E. Watari, and J. Lawrence, "Remote manipulation of cranes via the internet," in Int. Conference on Motion and Vibration. Control, Daejeon, Korea, 2006.