DocumentCode
1816845
Title
Oscillation damped movement of suspended objects
Author
Jones, James F. ; Petterson, Ben J.
Author_Institution
Sandia Nat. Lab., Albuquerque, NM, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
956
Abstract
Transportation of objects using overhead cranes or manipulators can induce pendulum motion of the object. Residual oscillation from transportation typically must be damped or allowed to decay before the next process can take place. By properly programming the acceleration of the transporting device (e.g. crane) an oscillation damped transport and swing-free stop is obtainable. The authors review the theory associated with oscillation-damped trajectories for simply suspended objects and describe a particular implementation using a CIMCORP XR 6100 gantry robot
Keywords
acceleration control; computerised materials handling; cranes; damping; oscillations; robots; CIMCORP XR 6100 gantry robot; acceleration; manipulators; oscillation-damped trajectories; overhead cranes; pendulum motion; residual oscillation; suspended objects; swing-free stop; transportation; Acceleration; Cranes; Differential equations; Laboratories; Linear approximation; Mathematics; Payloads; Radioactive pollution; Robot programming; Transportation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12183
Filename
12183
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