Human assisted impedance control of overhead cranes

被引：8
|
作者：
Wen, JT [1 ]
Popa, DO [1 ]
Montemayor, G [1 ]
Liu, PL [1 ]
机构：
[1] Rensselaer Polytech Inst, Ctr Automat Technol, Troy, NY 12180 USA
来源：
PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年
关键词：
crane control; impedance control; human assisted control; anti-swing control;
D O I：
10.1109/CCA.2001.973895
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an impedance control scheme through which a human operator can move an overhead crane in the x-y plane without applying excessive force. The human pushing force is not measured directly, but it is estimated from angle and position measurements. We show that this method is an effective way to provide intuitive control for overhead cranes.
引用
收藏
页码：383 / 387
页数：3
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