Authors:
Junichi Nakajima
and
Yoshiyuki Noda
Affiliation:
University of Yamanashi, Japan
Keyword(s):
Load Transfer Control, Trajectory Optimization, Vibration Suppression, Obstacle Avoidance, Overhead Traveling Crane.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Design and Manufacturing
;
Manufacturing Systems Engineering
;
Supply Chain and Logistics Engineering
Abstract:
This paper is concerned with an advanced transfer control for load transfer machines such as a crane. In the
load transfer machine, it is required to carry the load efficiently and safety. In order to satisfy this requirement,
fast transfer of load, obstacle avoidance and vibration suppression have to be accomplished in the load transfer
system. Therefore in this study, the load transfer control system which the transfer trajectory on a plane is
optimized in consideration of the vibration suppression, obstacles avoidance and fast transfer is proposed.
Moreover, in order to optimize the trajectory in a short time, the fast solution approach is also proposed in
this study. The effectiveness of the proposed transfer control system is verified by the experiments using the
laboratory type overhead traveling crane system.