Development of Power Assist Crane Operated by Tensional Information of Dual Wire

Naoyuki Takesue; Tomoyuki Mine; Rikiya Makino; Kousyun Fujiwara; Hideo Fujimoto

doi:10.20965/jrm.2013.p0931

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JRM Vol.25 No.6 pp. 931-938

doi: 10.20965/jrm.2013.p0931

(2013)

Paper:

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Development of Power Assist Crane Operated by Tensional Information of Dual Wire

Naoyuki Takesue^, Tomoyuki Mine^, Rikiya Makino^,
Kousyun Fujiwara^, and Hideo Fujimoto^***

^*Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan

^**Toyota Motor Corporation, 1 Motomachi, Toyota, Aichi 471-8573, Japan

^***Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan

Received:

May 8, 2013

Accepted:

October 15, 2013

Published:

December 20, 2013

Keywords:

crane, power assist, wire driven, tension estimation, admittance control

Abstract

Cranes and hoists at automotive assembly plant handle heavy objects such as batteries to decrease the physical burden on personnel. On/off button operations in such devices during fine positioning increase personnel mental stress. On the other hand, in power assist using force sensors which directly measure operating force, maneuverability is improved but we should be concerned about sensor weight, signal wiring, wire breakage and so on. Therefore, in this study, a power assist system driven by two wires is developed to improvemaneuverability andmaintenance. The method we propose estimates operating force and work load from tensional information on wires and controls the position of work by admittance control. The effectiveness of the proposed method is shown from confirmation and power assist experiments.

Cite this article as:

N. Takesue, T. Mine, R. Makino, K. Fujiwara, and H. Fujimoto, “Development of Power Assist Crane Operated by Tensional Information of Dual Wire,” J. Robot. Mechatron., Vol.25 No.6, pp. 931-938, 2013.

Data files:

References

[1] T. Miyoshi, S. Kawakami, and K. Terashima, “Path Planning and Obstacle Avoidance Considering Rotary Motion of Load for Overhead Cranes,” J. of Mechanical Systems for Transportation and Logistics, Vol.1, No.1, pp. 134-145, 2008.
[2] H. Osumi, Y. Utsugi, and M. Koshikawa, “Development of a Manipulator Suspended by Parallel Wire Structure,” Proc. of 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 498-503, 2000.
[3] T. Miyoshi and K. Terashima, “Control of Power-Assisted Crane System Using Direct Manual Manipulation,” Proc. of 2004 IEEE Int. Conf. on Control Applications, pp. 38-44, 2004.
[4] D. Yamaguchi, Y. Tagawa, M. Hayatsu, and M. Yamada, “Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism,” J. Robotics and Mechatronics, Vol.16, No.3, pp. 228-236, 2004.
[5] T. Morita, F. Kuribara, Y. Shiozawa, and S. Sugano, “A Novel Mechanism Design for Gravity Compensation in Three Dimensional Space,” Proc. of the 2003 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 163-168, 2003.
[6] R. Barents, M. Schenk, W. D. Dorsser, B. M. Wisse, and J. L. Herder, “Spring-to-spring balancing as energy-free adjustment method in gravity equilibrators,” Proc. ASME 2009 Int. Design Engineering Technical Conferences, DETC2009-86770, 2009.
[7] N. Takesue, T. Ikematsu, H. Murayama, and H. Fujimoto, “Design and Prototype of Variable Gravity Compensation Mechanism (VGCM),” J. of Robotics and Mechatronics, Vol.23, No.2, pp. 249-257, 2011.
[8] S. Tachi, T. Sakaki, H. Arai, S. Nishizawa, and J. F. Pelaez-Polo, “Impedance control of a direct-drive manipulator without using force sensors,” Advanced Robotics, Vol.5, No.2, pp. 183-205, 1991.
[9] K. Ohishi, M.Miyazaki, andM. Fujita, “Hybrid control of force and position without force sensor,” Proc. of Int. Conf. Industrial Electronics, Control, Instrumentation, and Automation, Power Electronics and Motion Control (IECON 1992), pp. 670-675, 1992.
[10] K. S. Eom, I. H. Suh, W. K. Chung, and S. R. Oh, “Disturbance observer based force control of robot manipulator without force sensor,” Proc. 1998 IEEE Int. Conf. on Robotics and Automation, Vol.4, pp. 3012-3017, 1998.
[11] C. N. Cho, J. H. Kim, Y. L. Kim, J. B. Song, and J. H. Kyung, “Collision Detection Algorithm to Distinguish Between Intended Contact and Unexpected Collision,” Advanced Robotics, Vol.26, No.16, pp. 1825-1840, 2012.
[12] R. Kikuuwe, N. Takesue, A. Sano, H. Mochiyama, and H. Fujimoto, “Admittance and Impedance Representations of Friction Based on Implicit Euler Integration,” IEEE Trans. on Robotics, Vol.22, No.6, pp. 1176-1188, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Miyoshi, S. Kawakami, and K. Terashima, “Path Planning and Obstacle Avoidance Considering Rotary Motion of Load for Overhead Cranes,” J. of Mechanical Systems for Transportation and Logistics, Vol.1, No.1, pp. 134-145, 2008.

[2] [2] H. Osumi, Y. Utsugi, and M. Koshikawa, “Development of a Manipulator Suspended by Parallel Wire Structure,” Proc. of 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 498-503, 2000.

[3] [3] T. Miyoshi and K. Terashima, “Control of Power-Assisted Crane System Using Direct Manual Manipulation,” Proc. of 2004 IEEE Int. Conf. on Control Applications, pp. 38-44, 2004.

[4] [4] D. Yamaguchi, Y. Tagawa, M. Hayatsu, and M. Yamada, “Sequential Identification Technique of Jacobian Matrix for a Power-Assisted Lifter Using Wire-Driven Parallel Mechanism,” J. Robotics and Mechatronics, Vol.16, No.3, pp. 228-236, 2004.

[5] [5] T. Morita, F. Kuribara, Y. Shiozawa, and S. Sugano, “A Novel Mechanism Design for Gravity Compensation in Three Dimensional Space,” Proc. of the 2003 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 163-168, 2003.

[6] [6] R. Barents, M. Schenk, W. D. Dorsser, B. M. Wisse, and J. L. Herder, “Spring-to-spring balancing as energy-free adjustment method in gravity equilibrators,” Proc. ASME 2009 Int. Design Engineering Technical Conferences, DETC2009-86770, 2009.

[7] [7] N. Takesue, T. Ikematsu, H. Murayama, and H. Fujimoto, “Design and Prototype of Variable Gravity Compensation Mechanism (VGCM),” J. of Robotics and Mechatronics, Vol.23, No.2, pp. 249-257, 2011.

[8] [8] S. Tachi, T. Sakaki, H. Arai, S. Nishizawa, and J. F. Pelaez-Polo, “Impedance control of a direct-drive manipulator without using force sensors,” Advanced Robotics, Vol.5, No.2, pp. 183-205, 1991.

[9] [9] K. Ohishi, M.Miyazaki, andM. Fujita, “Hybrid control of force and position without force sensor,” Proc. of Int. Conf. Industrial Electronics, Control, Instrumentation, and Automation, Power Electronics and Motion Control (IECON 1992), pp. 670-675, 1992.

[10] [10] K. S. Eom, I. H. Suh, W. K. Chung, and S. R. Oh, “Disturbance observer based force control of robot manipulator without force sensor,” Proc. 1998 IEEE Int. Conf. on Robotics and Automation, Vol.4, pp. 3012-3017, 1998.

[11] [11] C. N. Cho, J. H. Kim, Y. L. Kim, J. B. Song, and J. H. Kyung, “Collision Detection Algorithm to Distinguish Between Intended Contact and Unexpected Collision,” Advanced Robotics, Vol.26, No.16, pp. 1825-1840, 2012.

[12] [12] R. Kikuuwe, N. Takesue, A. Sano, H. Mochiyama, and H. Fujimoto, “Admittance and Impedance Representations of Friction Based on Implicit Euler Integration,” IEEE Trans. on Robotics, Vol.22, No.6, pp. 1176-1188, 2006.

Development of Power Assist Crane Operated by Tensional Information of Dual Wire

Naoyuki Takesue*, Tomoyuki Mine*, Rikiya Makino**, Kousyun Fujiwara**, and Hideo Fujimoto***

Naoyuki Takesue^, Tomoyuki Mine^, Rikiya Makino^,
Kousyun Fujiwara^, and Hideo Fujimoto^***