Swing-free movement of simply suspended objects employing parameter estimation

Abstract

An adaptive, swing-free trajectory planner for a gantry robot has been analytically developed and experimentally implemented on a commercial robot. A batch, nonlinear least square estimator (differential correction) is used to predict the initial conditions, mass, and frequency of the simply suspended object from a set of force sensor measurements.These parameters, in turn, are supplied to the swing-free trajectory planner to perform the maneuver.These algorithms have been implemented on a CIMCORP XR61001 gantry robot, and swing-free trajectories have been performed bv the robot using the adaptive trajector 3, planner.

Fuzzy control of flexible cable overhead cranes with load hoisting

“…The motion profile of the trolley strongly influences the swing of the payload. The trolley will follow a bang-bang profile as discussed in Jones et al (1990), Ridout (1989) and Werner et al (1990). Designing a single controller for an overhead crane that is travelling and hoisting simultaneously is a formidable task.…”