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.
- Dynamic Systems and Control Division
Crane Operation Using Hand-Motion and Machine Vision
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Peng, KCC, Singhose, W, & Fonseca, J. "Crane Operation Using Hand-Motion and Machine Vision." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 203-210. ASME. https://doi.org/10.1115/DSCC2009-2743
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