Anti-sway control for wire-suspended mechanism based on dynamics compensation

Noritaka Yanai, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalConference articlepeer-review

23 Citations (Scopus)

Abstract

This paper proposes a feedback control method for wire-suspended mechanisms. The wire-suspended mechanisms are classified into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. The current paper discusses mainly the incompletely restrained type mechanisms in the viewpoint of actual control. The incompletely restrained type wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is a simple incompletely restrained type mechanism. For this reason, anti-sway control method for incompletely restrained type mechanisms is needed. To resolve the problem of swing, inverse dynamics for general incompletely restrained type wire-suspended mechanism is discussed, then feedback control method based on a dynamics compensation is presented.

Original languageEnglish
Pages (from-to)4287-4292
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
Publication statusPublished - Jan 1 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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