天井走行クレーンの巻き上げによる障害物回避

抄録

In this study, we report on a teleoperation system for an overhead traveling crane with obstacle avoiding method by the winding. We have developed simple teleoperation systems not to cause pendulum vibrations in conveyance and overshoots at the target location. However it was only superficial operation. Therefor we implemented a winding mechanism, and experimented whether the obstacle avoidance with three-dimensional operation was possible. From in experimental results, the crane recognized an obstacle and wound up appropriately for its height. Finally, the crane reached the target location precisely, and its vibrations was converged. In conclusion, we confirmed the crane is possible to avoid obstacles with winding.