障害物回避と振れ止めのためのクレーンのセミオート制御

抄録

This paper is concerned with a human interface between a human operator for decision-making of obstacle avoidance and a crane transferring an object. Overhead traveling cranes are usually manipulated by human operator in practical industries. The transfer object can be freely moved in the three dimensional space by human operator for obstacle avoidance. Although manipulation for the moving direction of crane is simple, the crane's operation without sway of a load is difficult for unskilled operators, and therefore the oscillation of the residual vibration is generated after the transfer object is reached at a goal point. A semiautomatic control system is proposed in terms of a diffusion equation strategy in order to check and revise the reference trajectory directed by human operator for obstacle avoidance. Moreover, this system includes an optimal servo controller to suppress the oscillation of the transfer object and to control the cart velocity. The usefulness of the proposed method is demonstrated through experimental studies.