Semi-automatic control of overhead crane using potential method

Abstract

In practical industries, overhead traveling cranes are usually manipulated by a human operator. The transfer object can be freely moved in three-dimensional space by the human operator for various tasks. Although manipulation for the moving direction of a crane is easy, the crane's operation without vibration of a load is difficult for unskilled operators, and therefore swinging of the object occurs and residual vibration is generated after the transfer object reaches a goal point. Therefore, a semi-automatic control system is proposed in terms of obstacle avoidance by manual operation by human operator and feedback control for suppression of swing by automatic controller. Further, in order to heighten safety and prevent human error, the command input to avoid obstacles and go towards a goal is generated by the fusion of human command using joystick and potential information using diffusion equation based on the known environment map. Position and vibration control of a crane are carried out by a fixed-pole controller for the command input (stated previously). The usefulness of the proposed method is demonstrated through simulation and experimental studies.