MoP-42 ALGORITHMIC PROCEDURE TO DETERMINE FEEDFORWARD TRAJECTORY OF OVERHEAD HOIST TRANSFER MACHINE FOR SUSPENSION OF RESIDUAL VIBRAION OF A LOAD BY USING VIBRATION MANIPUKATION FUNCTION

抄録

In this paper, algorithmic procedure to determine analytical trajectory function of overhead hoist transfer machine is presented. Regarding the transfer machine as a one degree of freedom (1-DOF) pendulum, proper trajectory of the carriage is obtained under the influence of nonlinearity and the elevation/descendent of the suspended load. Since vibration manipulation function (VMF) can be decided from discrete aimed angle and angular velocity of the load at every sampling instant, trajectory of the carriage to suppress load swing is defined as a parameterized feedforward function. To evaluate the effectiveness of proposed method, we made some simulations and simple experiments.