A novel hand-motion crane control system was developed that improves performance by providing: 1) an intuitive control interface and 2) an element that reduces the complex oscillatory behavior of the payload. Hand-motion control allows operators to drive a crane by simply moving a hand-held radio-frequency tag through the desired path. Real-time location sensors track the movements of the tag and its position is used in a feedback-loop to drive the crane. However, tag measurements are corrupted by noise. It is important to understand the noise properties so that appropriate filters can be designed to mitigate the effects of noise and improve tracking accuracy. This paper quantifies the measurement noise for two possible situations during hand-motion control: when the tag is 1) located in open space inside the sensor coverage zone, and 2) is placed near large machinery. This paper also presents a Kalman filter that adapts to the noise characteristics of the workspace to minimize the tag-tracking error.
Skip Nav Destination
ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
October 17–19, 2012
Fort Lauderdale, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4531-8
PROCEEDINGS PAPER
Kalman Filtering for Improving Radio-Frequency Hand Motion Crane Control
Sudarshan Ragunathan,
Sudarshan Ragunathan
Arizona State University, Tempe, AZ
Search for other works by this author on:
David Frakes,
David Frakes
Arizona State University, Tempe, AZ
Search for other works by this author on:
Kelvin Peng,
Kelvin Peng
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Lee Stokes,
Lee Stokes
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
William Singhose
William Singhose
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Sudarshan Ragunathan
Arizona State University, Tempe, AZ
David Frakes
Arizona State University, Tempe, AZ
Kelvin Peng
Georgia Institute of Technology, Atlanta, GA
Lee Stokes
Georgia Institute of Technology, Atlanta, GA
William Singhose
Georgia Institute of Technology, Atlanta, GA
Paper No:
DSCC2012-MOVIC2012-8761, pp. 309-316; 8 pages
Published Online:
September 17, 2013
Citation
Ragunathan, S, Frakes, D, Peng, K, Stokes, L, & Singhose, W. "Kalman Filtering for Improving Radio-Frequency Hand Motion Crane Control." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 309-316. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8761
Download citation file:
11
Views
Related Proceedings Papers
A Wavelet-Based Smooth Variable Structure Filter
DSCC2012-MOVIC2012
Related Articles
Using an Extended Kalman Filter for Rigid Body Pose Estimation
J Biomech Eng (June,2005)
Multi-Sensor Information Fusion Kalman Filter Weighted by Scalars for Systems with Colored Measurement Noises
J. Dyn. Sys., Meas., Control (December,2005)
Filtering of Linear Systems With Unknown Inputs
J. Dyn. Sys., Meas., Control (September,2003)
Related Chapters
Based on Hybrid Recommendation Personalized of the E-Learning System Study
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
Image Smoothing Based on Game of Life
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)
Mash 2-1 Multi-Bit Sigma-Delta Modulator for WLAN
International Conference on Future Computer and Communication, 3rd (ICFCC 2011)