Shaping inputs to reduce vibration for suspended payloads
The purpose of this paper is to show how to reduce the vibrational motion of an object transported by an overhead crane. Recent work at Sandia National Laboratories (SNL) has shown that oscillation-damped transport and swing-free stops are possible by properly programming the acceleration of the transporting crane. The main objective of this paper is to generalize the theory associated with oscillation-damped trajectories for simply suspended objects based on the work at Massachusetts Institute of Technology (MIT). Further, the results are applied to a full-scale implementation of the damped oscillation methods for the Oak Ridge National Laboratory's (ORNL) Advanced Integrated Maintenance System (AIMS). Hardware and software requirements and constraints for proper operation are discussed. Finally, test results and lessons learned'' are presented. 4 refs., 6 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6445172
- Report Number(s):
- CONF-910223-7; ON: DE91004384
- Resource Relation:
- Conference: 4. topical meeting on robotics and remote systems, Albuquerque, NM (USA), 24-28 Feb 1991
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
OSCILLATIONS
DAMPING
REMOTE HANDLING EQUIPMENT
ACCELERATION
CRANES
HOT CELLS
MATHEMATICAL MODELS
PENDULUMS
ROBOTS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers