Payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. A new type of crane control interface that allows an operator to drive a crane by moving his or her hand freely in space has been implemented on an industrial bridge crane. An image processing system tracks the movement of a glove worn on the operator’s hand and its position is then used to drive the crane. Matlab simulations of the crane dynamics and hand-motion control were compared with actual experimental data. The results show that a combination of aggressive PD gains and an input shaper is able to generate the desired characteristics of fast payload response and low residual oscillations.

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