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

Motoji Yamamoto, Eiji Honda, Akira Mohri

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ253-258
ページ数6
DOI
出版ステータス出版済み - 12 1 2005
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, スペイン
継続期間: 4 18 20054 22 2005

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

その他

その他2005 IEEE International Conference on Robotics and Automation
国/地域スペイン
CityBarcelona
Period4/18/054/22/05

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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