Abstract
Payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. Manipulation difficulty is also increased by non-intuitive crane control interfaces. A new type of crane control interface that allows an operator to drive a crane by moving his or her hand freely in space has been implemented on an industrial bridge crane. Real-time-location technology based on radio frequency sensors tracks the 3D movements of a small tag held in the operator's hand. The tag's position is then used to drive the crane. Simulations of the crane dynamics and hand-motion control were compared with actual experimental data. The results show that a combination of aggressive PD feedback control gains and an input shaper is able to generate the desired characteristics of fast crane response and low residual oscillations.
Published Version
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