Feed-back control of crane based on inverse dynamics calculation

Noritaka Yanai, Motoji Yamamoto, Akira Mohri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper proposes a control method for crane using inverse dynamics calculation of the system. The load of crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In this paper, a new feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages482-487
Number of pages6
Volume1
Publication statusPublished - 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

Fingerprint

Cranes
Feedback control
State feedback
Linearization
Derivatives
Feedback
Control systems
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Yanai, N., Yamamoto, M., & Mohri, A. (2001). Feed-back control of crane based on inverse dynamics calculation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 482-487)

Feed-back control of crane based on inverse dynamics calculation. / Yanai, Noritaka; Yamamoto, Motoji; Mohri, Akira.

IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2001. p. 482-487.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yanai, N, Yamamoto, M & Mohri, A 2001, Feed-back control of crane based on inverse dynamics calculation. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 482-487, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 10/29/01.
Yanai N, Yamamoto M, Mohri A. Feed-back control of crane based on inverse dynamics calculation. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2001. p. 482-487
Yanai, Noritaka ; Yamamoto, Motoji ; Mohri, Akira. / Feed-back control of crane based on inverse dynamics calculation. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2001. pp. 482-487
@inproceedings{e6261905dc3e4628ba8cb0ef24c6d0ee,
title = "Feed-back control of crane based on inverse dynamics calculation",
abstract = "This paper proposes a control method for crane using inverse dynamics calculation of the system. The load of crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In this paper, a new feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.",
author = "Noritaka Yanai and Motoji Yamamoto and Akira Mohri",
year = "2001",
language = "English",
volume = "1",
pages = "482--487",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Feed-back control of crane based on inverse dynamics calculation

AU - Yanai, Noritaka

AU - Yamamoto, Motoji

AU - Mohri, Akira

PY - 2001

Y1 - 2001

N2 - This paper proposes a control method for crane using inverse dynamics calculation of the system. The load of crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In this paper, a new feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.

AB - This paper proposes a control method for crane using inverse dynamics calculation of the system. The load of crane is generally easy to swing and thus the work using the crane is dangerous. For preventing the unfavorable swing of the load, it is desirable to feedback the actual position of the load in a control method. As such a control law, state-feedback control based on linearization of the crane system is often used. However the method reduces control performance when rope length is changed, because of nonlinearity of the system. In this paper, a new feedback control method is proposed where the inverse dynamics calculation is involved to compensate non-linear dynamics of the system. In the control system, an observer is used to get higher order derivatives of the position of load, which is needed for the inverse dynamics calculation. By using the control method, control performance is unchangeable for changing rope length. Numerical simulation and experiment are shown to verify the effectiveness of the proposed control method.

UR - http://www.scopus.com/inward/record.url?scp=0035558003&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035558003&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0035558003

VL - 1

SP - 482

EP - 487

BT - IEEE International Conference on Intelligent Robots and Systems

ER -