A cable-suspended intelligent crane assist device for the intuitive manipulation of large payloads

Authors: Campeau-Lecours, AlexandreFoucault, SimonLaliberté, Thierry; Mayer-St-Onge, Boris; Gosselin, Clément
Abstract: This paper presents a cable-suspended crane system to assist operators in moving and lifting large payloads. The main objective of this work is to develop a simple and reliable system to help operators in industry to be more productive while preventing injuries. The system is based on the development of a precise and reliable cable angle sensor and a complete dynamic model of the system. Adaptive horizontal and vertical controllers designed for direct physical human-robot interaction are then proposed. Different techniques are then proposed to estimate the payload acceleration in order to increase the controller performances. Finally, experiments performed on a full-scale industrial system are presented.
Document Type: Article de recherche
Issue Date: 17 August 2016
Open Access Date: 12 September 2016
Document version: AM
Permalink: http://hdl.handle.net/20.500.11794/9709
This document was published in: IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 21 (4), 2073–2084 (2016)
https://doi.org/10.1109/TMECH.2016.2531626
IEEE/ASME Transactions on Mechatronics
Alternative version: 10.1109/TMECH.2016.2531626
Collection:Articles publiés dans des revues avec comité de lecture

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