This paper proposes a safe emergency stop control for a collision avoidance of gantry cranes. The crane mechanism is widely used for handling heavy load, however the load swings easily. This leads to possibilities of collision of load with obstacles during the crane work. Emergency stop for collision avoidance is, however, also very dangerous. Because residual sway after the stop is easy to be caused by the stop. Therefore, this paper presents an anti-sway 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. Experimental result using the method shows an effectiveness for the emergency stop control problem.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||出版済み - 7 2005|
All Science Journal Classification (ASJC) codes
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering