A Robotic Truck Crane with Vibration Sensors
Yoshio Tanaka*, Tetsushi Ueta**, Hiroshi Kawakami**
and Takashi Sumitomo*
*Shikoku National Industrial Research Institute, 2217-14 Hayashi-cho, Takamatsu, 761-03 Japan
**Faculty of Engineering, Tokushima University, 2-1 Minami-Josanjima, Tokushima, 770 Japan
To solve the problems of the shortage and increasing age of skilled operators in Japan, we propose a new concept of “robotic crane system” or “intelligent crane system” and develop the prototype system under laboratory conditions. This paper describes the hardware of the robotic crane system, control design of the flexible rotary crane using vibration sensors, and the first experimental results. In order to simulate the crane’s load swing efficiently and develop a 3-D simulator for cranes with a spherical pendulum such as a rotary crane, an efficient dynamic simulation method is also presented. This method was applied to the prototype system.
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