Feedback control for wire-suspended mechanism with exact linearization

Noritaka Yanai, Motoji Yamamoto, Akira Mohri

Research output: Contribution to conferencePaper

21 Citations (Scopus)

Abstract

This paper discusses a feedback control method for incompletely restrained wire-suspended mechanisms. The incompletely restrained 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 one of the simplest incompletely restrained mechanism. For this reason, anti-sway control method for incompletely restrained type mechanisms is needed. A key point of our method is exact linearization using inverse dynamics of the system. Feedback control method with exact linearization and measuring method for the suspended object are presented, and effectiveness of proposed methods are shown by an experiment.

Original languageEnglish
Pages2213-2218
Number of pages6
Publication statusPublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Yanai, N., Yamamoto, M., & Mohri, A. (2002). Feedback control for wire-suspended mechanism with exact linearization. 2213-2218. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.