An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system
- Oak Ridge National Lab., TN (USA)
- Sandia National Lab., Albuquerque, NM (USA)
The transportation of objects using overhead cranes can induce pendular motion of the object, which usually must be damped or allowed to decay before the next process can take place. Recent work at Sandia National Laboratories has shown that oscillation-damped transport and swing-free stops are possible by properly programming the acceleration of the transporting crane. Initial studies have been completed using a CIMCORP XR6100 gantry robot. The Advanced Integrated Maintenance System (AIMS) is an engineering and operations test bed developed for remote maintenance and handling studies within the Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory. The goal of CFRP has been to advanced the technology of in-cell systems planned for future nuclear fuel cycle facilities. The AIMS provides the capabilities to examine the needs and constraints necessary for hot-cell remote maintenance and includes a force-reflecting master/slave teleoperator and overhead transporter system. The associated control system provides a flexible programming environment conducive to controls experimentation. This paper reviews the theory associated with oscillation-damped trajectories for simply suspended objects and describes a specific implementation of the oscillation damping methods for the AIMS transporter. Hardware and software requirements and constraints for proper operation are discussed.
- OSTI ID:
- 6131183
- Report Number(s):
- CONF-900608-; CODEN: TANSA; TRN: 91-007626
- Journal Information:
- Transactions of the American Nuclear Society; (USA), Vol. 61; Conference: American Nuclear Society (ANS) annual meeting, Nashville, TN (USA), 10-14 Jun 1990; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
Similar Records
Shaping inputs to reduce vibration for suspended payloads
Oscillation damped movement of suspended objects
Related Subjects
42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
NUCLEAR FACILITIES
REMOTE HANDLING EQUIPMENT
COMPUTERIZED CONTROL SYSTEMS
ACCELERATION
ALGORITHMS
ARTIFICIAL INTELLIGENCE
CRANES
DAMPING
DATA ACQUISITION SYSTEMS
FIBER OPTICS
FUEL CYCLE CENTERS
HOT CELLS
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING
OPERATION
ORNL
OSCILLATIONS
PENDULUMS
PLANNING
PROGRAMMING
REAL TIME SYSTEMS
REMOTE HANDLING
SERVOMECHANISMS
TRANSPORT
CONTROL EQUIPMENT
CONTROL SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
NATIONAL ORGANIZATIONS
US AEC
US DOE
US ERDA
US ORGANIZATIONS
050800* - Nuclear Fuels- Spent Fuels Reprocessing
420203 - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers