TY - GEN
T1 - Crane operation using hand-motion and radio frequency identification tags
AU - Chih Peng, Kelvin Chen
AU - Singhose, William
AU - Gessesse, Semir
AU - Frakes, David
PY - 2009
Y1 - 2009
N2 - Payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. Manipulation difficulty is also increased by non-intuitive crane control interfaces. A new type of crane control interface that allows an operator to drive a crane by moving his or her hand freely in space has been implemented on an industrial bridge crane. Real-time-location technology based on radio frequency sensors tracks the 3-D movements of a small tag held in the operator's hand. The tag's position is then used to drive the crane. Simulations of the crane dynamics and hand-motion control were compared with actual experimental data. The results show that a combination of aggressive PD feedback control gains and an input shaper is able to generate the desired characteristics of fast crane response and low residual oscillations.
AB - Payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. Manipulation difficulty is also increased by non-intuitive crane control interfaces. A new type of crane control interface that allows an operator to drive a crane by moving his or her hand freely in space has been implemented on an industrial bridge crane. Real-time-location technology based on radio frequency sensors tracks the 3-D movements of a small tag held in the operator's hand. The tag's position is then used to drive the crane. Simulations of the crane dynamics and hand-motion control were compared with actual experimental data. The results show that a combination of aggressive PD feedback control gains and an input shaper is able to generate the desired characteristics of fast crane response and low residual oscillations.
UR - http://www.scopus.com/inward/record.url?scp=77950445034&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77950445034&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2009.5410378
DO - 10.1109/ICCA.2009.5410378
M3 - Conference contribution
AN - SCOPUS:77950445034
SN - 9781424447060
T3 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
SP - 1110
EP - 1115
BT - 2009 IEEE International Conference on Control and Automation, ICCA 2009
T2 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
Y2 - 9 December 2009 through 11 December 2009
ER -