Title :
Towards automatic container handling cranes
Author :
Dissanayake, M.W.M.G. ; Rye, D.C. ; Durrant-Whyte, H.F.
Author_Institution :
Dept. of Mech. Eng., Sydney Univ., NSW, Australia
Abstract :
This paper describes the design and implementation of a semi-autonomous, and ultimately fully autonomous, container quay-crane. The new crane is based on a novel reeving arrangement which allows both fast and accurate gross motion as well as fine micropositioning. The paper describes the essential theory behind this design and presents experimental results from a 1/15th scale model. The proposed instrumentation of this crane is also briefly described as are key elements of the operator interface
Keywords :
AC motors; cranes; manipulator dynamics; manipulator kinematics; materials handling; position control; servomotors; automatic container handling cranes; fast accurate gross motion; fine micropositioning; fully autonomous container quay-crane; operator interface; reeving arrangement; semi-autonomous container quay-crane; Automatic control; Cables; Containers; Cranes; Electrical equipment industry; Geometry; Instruments; Marine vehicles; Mechatronics; Wire;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619054
