Inverse dynamics and control of crane-type manipulator

Motoji Yamamoto, Noritaka Yanai, Akira Mohri

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

36 Citations (Scopus)

Abstract

This paper discusses an inverse dynamics problem for a parallel wire mechanism with multi-degrees of freedom. Firstly, a crane-type parallel wires mechanism which has three trolleys and three wires is proposed for handling heavy objects. This handling mechanism enables not only three dimensional positioning but also orientating of objects, unlike typical crane mechanism. A dynamical model using wire force vector is derived. Based on the dynamical model with wire force vector, inverse dynamics problem is analytically solved by a linear equation in terms of the wire force vector. The trajectory of end-effector of the crane-type manipulator can be transformed into the trajectory of wire length and trolley position by the calculation method. Using the trajectory of wire length and trolley position, the end-effector of the crane-type manipulator is controlled. Two dimensional experimental crane-type manipulator is also developed to verify an effectiveness of the inverse dynamics calculation and the trajectory control method.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages1228-1233
Number of pages6
Volume2
Publication statusPublished - 1999
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Yamamoto, M., Yanai, N., & Mohri, A. (1999). Inverse dynamics and control of crane-type manipulator. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1228-1233). IEEE.