NDLI: Anti-Swinging Input Shaping Control of an Automatic Construction Crane

Content Provider	IEEE Xplore Digital Library
Author	Garrido, S. Abderrahim, M. Gimenez, A. Diez, R. Balaguer, C.
Copyright Year	2004
Abstract	This paper describes the control of an automatic overhead crane for assembly of modular building elements. The automatic system was developed using a commercial full-size crane, which was modified by adding adequate sensors, servomotors, and control strategy. The crane, which maintained its original cables, was converted to a robotic system, and is controlled via a computer-based multiaxes control board. The implemented algorithms solve two main problems of module assembly: 1) precision positioning of large and heavy modules in the order of a few centimeters, and 2) anti-swinging transportation of modules, even in difficult weather conditions (not extreme). The implementation of the anti-swinging control is achieved using the on-line two-dimensional inclinometer measurements and an on-line calculation of input impulse trains. The developed input-shaping control is divided into two phases: straight line motion and external perturbances cancellation. Experimental results of the developed algorithms which demonstrate the effectiveness of the new process are presented.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	549
Ending Page	557
Page Count	9
File Size	3119734
File Format	PDF
ISSN	15455955
Volume Number	5
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Shape control Cranes Control systems Robotic assembly Modular construction Buildings Sensor systems Servomotors Cables sensory feedback Automatic assembly automation in construction input shaping
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist

Control of Tower Cranes With Double-Pendulum Payload Dynamics

Robotic excavation in construction automation

Modified adaptive input shaping for maneuvering cranes using a feedback MEM gyroscope with null drift

Robotic visual servoing and robotic assembly tasks

Anti-sway control of marine cranes under the disturbance of a parallel manipulator

Finite-State Input Shaping

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

FutureHome: An integrated construction automation approach

Anti-Swinging Input Shaping Control of an Automatic Construction Crane

Similar Documents

A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist

Control of Tower Cranes With Double-Pendulum Payload Dynamics

Robotic excavation in construction automation

Modified adaptive input shaping for maneuvering cranes using a feedback MEM gyroscope with null drift

Robotic visual servoing and robotic assembly tasks

Anti-sway control of marine cranes under the disturbance of a parallel manipulator

Finite-State Input Shaping

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

FutureHome: An integrated construction automation approach

Anti-Swinging Input Shaping Control of an Automatic Construction Crane