Abstract
Generally a crane robot and a load are connected by a flexible wire. The load swings simultaneously when the crane robot runs because of its inertia. So it is difficult for us to realize high accurate trajectory tracking of a crane robot. In order to achieve automation and high security of crane robot operation, we should get the accurate data for lifting wire. Thus it is necessary to design a wire angle detection system of 2-DOF gantry crane robot which is simple, low cost, good for real-time processing, suitable for both indoor and outdoor uses and feasible for the accurate data for lifting wire simultaneously.
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