抄録
This paper describes about the process to obtain the position of a rotating and swaying cargo of a jib crane by using an Inertia Measurement Unit (IMU) which is possible to measure the attitude of a moving object. A number of researches on transporting and anti-swaying control of a crane are reported up to now. However, those related to a jib crane as against a overhead crane are few because the cargo of a jib crane is easy to rotate by the external effect such as acceleration and deceleration operations and disturbance. Therefore, we used an IMU as a sensor to measure the attitude of a cargo, and then we proposed one approach to obtain the position of a cargo by the relation between the coordinate system of a cargo mounted an IMU (ZYX Euler's angle) and the one of a rope (ZYZ Euler's angle) even if a cargo was rotating and swaying by wind. As a result, we could confirm the effectiveness for the position detection in the experiments, and also get good performances for transporting and anti-sway control of a jib crane.
