NDLI: Optimal force distribution applied to a robotic crane with flexible cables

Content Provider	IEEE Xplore Digital Library
Author	Wei-Jung Shiang Cannon, D. Gorman, J.
Copyright Year	2000
Description	Author affiliation: Dept. of Ind. & Manage. Eng., Pennsylvania State Univ., University Park, PA, USA (Wei-Jung Shiang)
Abstract	A multiple cable robotic crane designed to provide improved cargo handling is investigated. The equations of motion are derived for the cargo and flexible cables using Lagrange's equations and the assumed modes method. The resulting equations are kinematically redundant due to fewer degrees of freedom of the cargo than the number of cables. A nonlinear transformation is used to reduce the number of variables. An optimal force distribution method is then applied to the equations to solve for a set of necessary cable tensions which will cause the system to track a desired trajectory. These tensions are tested on the dynamic model using computer simulation. The results are compared against desired cable lengths and results gained in previous research using a rigid cable model.
Starting Page	1948
Ending Page	1954
File Size	617597
Page Count	7
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844880
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Cranes Power cables Nonlinear equations Freight handling Lagrangian functions Trajectory Testing Nonlinear dynamical systems Computer simulation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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