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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||出版済み - 1 1 2002|
|イベント||2002 IEEE International Conference on Robotics and Automation - Washington, DC, 米国|
継続期間: 5 11 2002 → 5 15 2002
All Science Journal Classification (ASJC) codes