荷位置情報に基づく3次元天井クレーンのモデリングと搬送制御 : 第1報, 荷位置モデルの導出

抄録

The first step in systematically establishing all automatic crane control system is to build a mathematical model. This paper presents the modeling of an overhead traveling crane in a three dimensional (3-D) complex transfer trajectory including hoisting motion and curve trajectory. The crane model for object positions in a 3-D transferring space is derived in terms of force's balance, in which the swirling motion can well be expressed. The validity of the proposed model is confirmed by simulations and experiments.