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This paper presents modeling and control of an overhead traveling crane in a three dimensional(3-D) complex transfer path. A mathematical model of 3-D overhead crane is newly built. It is proposed to feedback a load-position instead of conventional cart-position, in order to evade the collision of load with obstacles and achieve the reduction of both transfer time and residual vibration. In oder to...
In order to establish an autonomous overhead traveling crane system, it is needs to be constructed the obstacle recognition system, the path planning system and the control system of suppression of object swing automatically. These systems development is studied by our research group. In particular, the on-line obstacle recognition system using an ultrasonic sensor and the on-line obstacle avoidance...
This paper presents a method to establish the three-dimensional (3-D) autonomous mobile overhead crane system which takes into account obstacle recognition and path planning by on-line and suppression of sloshing for the liquid tank transfer. The system has three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renovate partial...
The purpose of this research is development of the operation support system of a rotary crane without adding the sensor. Especially, the operation support system of a human interface that uses the joystick and DSP is developed in this research. The operation support system can keep the height of the object position by change of boom angle without the object hoisting operation, and can reduce a difficult...
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