The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. An input-shaping controller was implemented on a large bridge crane at the Georgia Institute of Technology to reduce crane payload oscillation. The crane was used to study the performance of human operators as they drove the crane through obstacle courses. An image processing system was implemented to track the movement of the crane payload. Data from these experiments show that operators performed manipulation tasks faster, safer, and more effectively when input shaping was utilized to reduce payload sway.
Human Operator Performance Testing Using an Input-Shaped Bridge Crane
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Khalid, A., Huey, J., Singhose, W., Lawrence, J., and Frakes, D. (December 5, 2005). "Human Operator Performance Testing Using an Input-Shaped Bridge Crane." ASME. J. Dyn. Sys., Meas., Control. December 2006; 128(4): 835–841. https://doi.org/10.1115/1.2361321
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