Safe Automatic Emergency Stop Control of Gantry Crane Including Moving Obstacles in Its Workspace

This paper proposes a safe emergency stop control for collision avoidance of gantry cranes. The crane mechanism is widely used for handling heavy load. A big problem is that the suspended load swings easily. This leads to possibilities of collision of load with obstacle during the crane work. Emerge...

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Bibliographic Details
Main Authors: Yamamoto, M., Honda, E., Mohri, A.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Collision avoidance
Control systems
Cranes
Emergency Stop Control
Gantry Crane
Intelligent systems
Machine intelligence
Machinery
Motion control
Moving Obstacles
Nonlinear dynamical systems
Systems engineering and theory
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Description
Summary:This paper proposes a safe emergency stop control for collision avoidance of gantry cranes. The crane mechanism is widely used for handling heavy load. A big problem is that the suspended load swings easily. This leads to possibilities of collision of load with obstacle during the crane work. Emergency stop for collision avoidance is, however, also dangerous. Because residual sways after the stop is easy to be caused by the stop. Therefore, this paper presents an anti-sway control method when the emergency stop. The method is based on inverse dynamics of the crane system. Thus the inverse dynamics problem is also discussed. Using the inverse dynamics calculation and a real time obstacle detection system, a feed-forward based emergency stop control method is proposed. Experiments of emergency stop control using the method are shown.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2005.1570128