An input shaping controller enabling cranes to move without sway
- Convolve, Inc., New York, NY (United States)
- Massachusetts Inst. of Tech., Cambridge, MA (United States)
- Westinghouse Savannah River Co., Aiken, SC (United States)
A gantry crane at the Savannah River Technology Center was retrofitted with an Input Shaping controller. The controller intercepts the operator`s pendant commands and modifies them in real time so that the crane is moved without residual sway in the suspended load. Mechanical components on the crane were modified to make the crane suitable for the anti-sway algorithm. This paper will describe the required mechanical modifications to the crane, as well as, a new form of Input Shaping that was developed for use on the crane. Experimental results are presented which demonstrate the effectiveness of the new process. Several practical considerations will be discussed including a novel (patent pending) approach for making small, accurate moves without residual oscillations.
- Research Organization:
- Savannah River Site (SRS), Aiken, SC (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC09-96SR18500
- OSTI ID:
- 491559
- Report Number(s):
- WSRC-TR-97-0049; CONF-970464-17; ON: DE97060130; TRN: 97:012463
- Resource Relation:
- Conference: 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997; Other Information: PBD: [1997]
- Country of Publication:
- United States
- Language:
- English
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