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This paper presents a cable-suspended crane system to assist operators in moving and lifting large payloads. The main objective of this work is to develop a simple and reliable system to help operators in industry to be more productive while preventing injuries. The system is based on the development of a precise and reliable cable angle sensor and a complete dynamic model of the system. Adaptive...
In the case of a crane that carries its payload swinging on a cable precise control of a subsystem passively connected to a directly controllable one by elastic connection is needed. Normally the connected degree of freedom has little damping and it is apt to keep swinging accordingly. Traditionally the "input shaping technology" is applied for cranes to assist the human operator responsible...
This paper presents an adaptive control method for trajectory tracking of a rigid manipulator which holds a flexible payload driven by an unknown force. First, kinematics and dynamics of the payload is derived. After the analysis of the interaction force in the whole system, a model of manipulator is then combined with the payload model, by which the model of the whole system is obtained. The unknown...
It has been recently pointed out that the lack of unit invariance of the usual Euclidean norm on the twist and wrench spaces would render many of the results in robot force control invalid. This observation actually begs the more fundamental question of what force should be controlled. In this paper, we investigate this problem in the context of multiple-arm manipulation. Motivated by a simple one-dimensional...
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