Kalman filtering for improving radio-frequency hand motion crane control

Sudarshan Ragunathan, David Frakes, Kelvin Peng, Lee Stokes, William Singhose

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel hand-motion crane control system was developed that improves performance by providing: 1) an intuitive control interface and 2) an element that reduces the complex oscillatory behavior of the payload. Hand-motion control allows operators to drive a crane by simply moving a hand-held radio-frequency tag through the desired path. Real-time location sensors track the movements of the tag and its position is used in a feedbackloop to drive the crane. However, tag measurements are corrupted by noise. It is important to understand the noise properties so that appropriate filters can be designed to mitigate the effects of noise and improve tracking accuracy. This paper quantifies the measurement noise for two possible situations during hand-motion control: when the tag is 1) located in open space inside the sensor coverage zone, and 2) is placed near large machinery. This paper also presents a Kalman filter that adapts to the noise characteristics of the workspace to minimize the tagtracking error.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages309-316
Number of pages8
DOIs
StatePublished - Dec 1 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume3

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Ragunathan, S., Frakes, D., Peng, K., Stokes, L., & Singhose, W. (2012). Kalman filtering for improving radio-frequency hand motion crane control. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 309-316). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 3). https://doi.org/10.1115/DSCC2012-MOVIC2012-8761