Transport Control of a Jib Crane with a Rotating Cargo

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  • Kodani Nariyuki
    Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University
  • Ouchi Shigeto
    Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University
  • Takahashi Koichi
    Fuji IT Co., Ltd.
  • Hirata Hiroshi
    Department of Applied Computer Engineering, Faculty of Information and Science Technology, Tokai University

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Other Title
  • ねじれ回転する吊り荷を有するジブクレーンの搬送制御
  • ネジレ カイテン スル ツリニ オ ユウスル ジブクレーン ノ ハンソウ セイギョ

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This paper describes about the process to obtain the position of a rotating and swaying cargo of a jib crane by using an Inertia Measurement Unit (IMU) which is possible to measure the attitude of a moving object. A number of researches on transporting and anti-swaying control of a crane are reported up to now. However, those related to a jib crane as against a overhead crane are few because the cargo of a jib crane is easy to rotate by the external effect such as acceleration and deceleration operations and disturbance. Therefore, we used an IMU as a sensor to measure the attitude of a cargo, and then we proposed one approach to obtain the position of a cargo by the relation between the coordinate system of a cargo mounted an IMU (ZYX Euler's angle) and the one of a rope (ZYZ Euler's angle) even if a cargo was rotating and swaying by wind. As a result, we could confirm the effectiveness for the position detection in the experiments, and also get good performances for transporting and anti-sway control of a jib crane.

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