A cable-suspended intelligent crane assist device for the intuitive manipulation of large payloads
Authors: | Campeau-Lecours, Alexandre; Foucault, Simon; Laliberté, 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 |
Files in this item:
Description | Size | Format | ||
---|---|---|---|---|
IEEE_ASME_TRAN_MECHATRO_ACLecours_F_ResGate.pdf | 2.39 MB | Adobe PDF | ![]() View/Open |
All documents in CorpusUL are protected by Copyright Act of Canada.