Feedback control for wire-suspended mechanism with exact linearization

Author

Yanai, Noritaka ; Yamamoto, Motoji ; Mohri, Akira

Author_Institution

Kyushu Univ., Fukuoka, Japan

Volume

3

fYear

2002

fDate

2002

Firstpage

2213

Abstract

This paper discusses a feedback control method for incompletely restrained wire-suspended mechanisms. The incompletely restrained wire-suspended mechanism has a merit that it enables three dimensional positioning and orientating of suspended object with simple mechanism using a small number of wires. However it also has a drawback that the manipulated object is easy to swing as seen in overhead crane which is one of the simplest incompletely restrained mechanism. For this reason, anti-sway control method for incompletely restrained type mechanisms is needed. A key point of our method is exact linearization using inverse dynamics of the system. Feedback control method with exact linearization and measuring method for the suspended object are presented, and effectiveness of proposed methods are shown by an experiment.

Keywords

cranes; feedback; inverse problems; linearisation techniques; robot dynamics; 3D orientation; 3D positioning; anti-sway control method; exact linearization; feedback control; incompletely restrained mechanism; incompletely restrained type mechanisms; incompletely restrained wire-suspended mechanisms; inverse dynamics; overhead crane; swing; Automatic control; Control systems; Cranes; Error correction; Feedback control; Humans; Manufacturing automation; Production facilities; Stability; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041596

Filename

1041596