Methods of and system for swing damping movement of suspended ob

Details Methods of and system for swing damping movement of suspended ob Methods of and system for swing damping movement of suspended ob

1989-04-20

1991-03-05

Basinger, Sherman

Traversing hoists

With haul-in line

212159, 212161, B66C 1306

Patent

active

049970950

ABSTRACT:
A payload suspended from a gantry is swing damped in accordance with a control algorithm based on the periodic motion of the suspended mass or by servoing on the forces induced by the suspended mass.

REFERENCES:
patent: 3384245 (1968-05-01), Bonnaure
patent: 3517830 (1970-06-01), Virkkala
patent: 3921818 (1975-11-01), Yamagishi
patent: 4512711 (1985-04-01), Ling et al.
patent: 4603783 (1986-08-01), Tax et al.
patent: 4717029 (1988-01-01), Yasunobu et al.
patent: 4756432 (1988-07-01), Kawashima et al.
G. P. Starr, "Swing-Free Transport of Suspended Objects with a Path-Controlled Robot Manipulator", Journal of Dynamic Systems, Measurement, and Control, vol. 107, Mar. 1985, pp. 97-100.
A. Sturm, "Robotic Trajectory Control of Acceleration and Velocity Using Cubic Splines", 8th Applied Mechanisms Conference, St. Louis, Mo., Sep. 19-31, 1983.

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