TY - GEN
T1 - Safe automatic emergency stop control of gantry crane including moving obstacles in its workspace
AU - Yamamoto, Motoji
AU - Honda, Eiji
AU - Mohri, Akira
PY - 2005/12/1
Y1 - 2005/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.2005.1570128
DO - 10.1109/ROBOT.2005.1570128
M3 - Conference contribution
AN - SCOPUS:33846178710
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 253
EP - 258
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -