DocumentCode
2062318
Title
Human assisted impedance control of overhead cranes
Author
Wen, John T. ; Popa, Dan O. ; Montemayor, Gustavo ; Liu, Peter L.
Author_Institution
Center for Autom. Technol., Rensselaer Polytech. Inst., Troy, NY, USA
fYear
2001
fDate
2001
Firstpage
383
Lastpage
387
Abstract
Presents an impedance control scheme through which a human operator can move an overhead crane in the x-y plane without applying excessive force. The human pushing force is not measured directly, but it is estimated from angle and position measurements. We show that this method is an effective way to provide intuitive control for overhead cranes
Keywords
cranes; force control; friction; linear systems; motion control; observers; anti-swing control; human assisted impedance control; human operator; human pushing force; overhead cranes; Automatic control; Automation; Bridges; Control systems; Cranes; Force control; Force measurement; Friction; Humans; Impedance;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location
Mexico City
Print_ISBN
0-7803-6733-2
Type
conf
DOI
10.1109/CCA.2001.973895
Filename
973895
Link To Document