Anti-sway control for wire-suspended mechanism based on dynamics compensation

Proposes a feedback control method for wire-suspended mechanisms. The wire-suspended mechanisms are classified into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. The paper discusses mainly incompletely restrained type mechanisms form the viewpoint of actual control. The incompletely restrained type wire-suspended mechanism has the merit that it enables three dimensional positioning and orientation of suspended object with simple mechanism using a small number of wires. However it also has the drawback that the manipulated object is easy to swing as seen in overhead crane which is a simple incompletely restrained type mechanism. For this reason, an anti-sway control method for incompletely restrained type mechanisms is needed. To resolve the problem of swing, inverse dynamics for general incompletely restrained type wire-suspended mechanism is discussed, then a feedback control method based on dynamics compensation is presented.