E. Maleki, W. Singhose (USA), and J. Vaughan (Japan)
Robotics, Controls, Dynamics, Input shaping
Cranes are used extensively throughout the world in a wide variety of construction and material-handling applications. The throughput and safety of cranes are limited by payload oscillation. Most cranes are attached to fixed bases that limit their workspace size. The operational capabilities of cranes can be greatly expanded by allowing base motion. However, any such base motion complicates the dynamic response of the crane and significantly increases the difficulty of controlling the crane. This paper presents initial experimental results from a small-scale mobile boom crane. A theoretical model of the crane is presented and experimentally verified. The oscillatory dynamics of the crane are highlighted and controllers to combat these unwanted dynamics are presented.
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