Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace

Motoji Yamamoto, Eiji Honda, Akira Mohri

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

1 Citation (Scopus)

Abstract

This paper proposes a safe emergency stop control for collision avoidance of gantry cranes. The crane mechanism is widely used for handling heavy load. A big problem is that the suspended load swings easily. This leads to possibilities of collision of load with obstacle during the crane work. Emergency stop for collision avoidance is, however, also dangerous. Because residual sways after the stop is easy to be caused by the stop. Therefore, this paper presents an antisway control method when the emergency stop. The method is based on inverse dynamics of the crane system. Thus the inverse dynamics problem is also discussed. Using the inverse dynamics calculation and a real time obstacle detection system, a feed-forward based emergency stop control method is proposed. Experiments of emergency stop control using the method are shown.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages253-258
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Fingerprint

Gantry cranes
Cranes
Collision avoidance
Experiments

All Science Journal Classification (ASJC) codes

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

Cite this

Yamamoto, M., Honda, E., & Mohri, A. (2005). Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 253-258). [1570128] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570128

Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace. / Yamamoto, Motoji; Honda, Eiji; Mohri, Akira.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 253-258 1570128 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

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

Yamamoto, M, Honda, E & Mohri, A 2005, Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570128, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 253-258, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570128
Yamamoto M, Honda E, Mohri A. Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 253-258. 1570128. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2005.1570128
Yamamoto, Motoji ; Honda, Eiji ; Mohri, Akira. / Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. pp. 253-258 (Proceedings - IEEE International Conference on Robotics and Automation).
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