1A2-P19 天井走行型クレーンの軌道の評価(ワイヤ駆動系の機構と制御)

抄録

A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from screen click interface and transports suspended objects. The small actuators are used as a regulator and feedback controlled by a wire angle sensor. If the operator plots some points, the transportation time is longer in proportion to a number of plots. Therefor we generate the trajectory to shorten the transportation time. We make possible to derive the route error caused by superposing the trajectory. In the area with obstacle the possible transportation area considering the route error is derived.