Heavy work handling by the cooperative control of a crane and a robot.
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- ARAI Tamio
- 東京大学工学部
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- OSUMI Hisashi
- 東京大学工学部
Bibliographic Information
- Other Title
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- クレーンとロボットの協調制御による重量物ハンドリング
- クレーン ト ロボット ノ キョウチョウ セイギョ ニ ヨル ジュウリョウブツ
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Description
The handling of a heavy work is a dangerous task. A crane is one of the suitable mechanisms to handle the heavy work, but it makes the suspended work vibration. This paper proposes a heavy work handling system which consists of a crane and a robot. A flexible arm is installed at the tip of the robot in order to avoid large reaction force when the robot grasps the swinging work. The mechanism is modelled as two springs and a mass. Based on this model, a cooperative control system between the crane and the robot is designed for positioning the work. The robot is position-controlled as a master and the crane is velocity-controlled as a follower. To reduce the vibration of the work, the crane is controlled through the feedback signals of both the deflection of the flexible arm and the velocity of the crane. Additionally a feedforward signal from the robot controller is used. Experimental apparatus is made with 3.9 kg weight. The performance of the system is studied with its simulation. Experimental results prove that the system is very efficient in handling heavy works.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 57 (3), 467-472, 1991
The Japan Society for Precision Engineering
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Keywords
Details 詳細情報について
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- CRID
- 1390282679742769664
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- NII Article ID
- 110001370604
- 10006720549
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 3698869
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed