DocumentCode
2030189
Title
INS-based identification of quay-crane spreader yaw
Author
Louda, M.A. ; Rye, D.C. ; Dissanayake, M.W.M.G. ; Durrant-Whyte, H.F.
Author_Institution
Australian Centre for Field Robotics, Sydney Univ., NSW, Australia
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
3310
Abstract
A crucial problem in crane control is to identify exactly the position and orientation of the load in space. This paper describes a new non-contact method for determining the crane load location by means of an inertial navigation system (INS) and a Kalman filter. The Kalman filter estimates the spreader position, which is not observed by the INS. Experiments were conducted on a 1/15th geometric scale model of a quay-crane. The work has potential application in the development of integrated estimation and control systems for full-scale quay-cranes
Keywords
Kalman filters; cranes; dynamics; inertial navigation; parameter estimation; Kalman filter; Stewart platform; dynamics; identification; inertial navigation system; load location; quay-crane; spreader yaw; Containers; Cranes; Geometry; Motion control; NIST; Orbital robotics; Robotics and automation; Solid modeling; Winches; Wire;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680949
Filename
680949
Link To Document