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
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;
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
DOI :
10.1109/CCA.2001.973895
