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Intelligent Control of Crane with Autonomous and Cooperation Ability

Research Project

Project/Area Number 10650239
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionToyohashi University of Technology

Principal Investigator

TERASHIMA Kazuhiko  Toyohashi University of Technology, 工学部, 教授 (60159043)

Project Period (FY) 1998 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 1999: ¥300,000 (Direct Cost: ¥300,000)
Fiscal Year 1998: ¥2,400,000 (Direct Cost: ¥2,400,000)
KeywordsIntelligent control / Crane / Antonomous robot / Cooperation / Motion Control / Local Navigation / Global Navigation / Sensors / 天井クレーン / 障害物回避
Research Abstract

This paper presents of obstacle recognition and the avoidance for on-line application. Firstly, the performance of ultrasonic sensor is examined from the viewpoints of measurable regions where ultrasonic sensor is used for on-line obstacle recognition. Attitude control system in the horizontal direction of transfer load is newly realized by installing electric chuck and gyro sensor for the part of transferred load. Secondly, a VFH (Vector Field Histogram) method is used, which is a method of obstacle avoidance and makes local environment al map with ultrasonic sensor grid on two dimensional histogram and avoid obstacles from sampled data. When this method is applied to a crane system, maximum acceleration is considered for velocity control, and the scale of active cell is adaptively changed in the neighborhood of goal points. Validity of VFH methods is shown by computer simulation.

Report

(3 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • Research Products

    (21 results)

All Other

All Publications (21 results)

  • [Publications] K. Terashima and M. Suzuki: "Path Planning and Motion Execution of Overhead Traveling Crane"Proceedings of 14th IFAC World Congress. Q. 31-36 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K. Terashima and M. Suzuki: "Path Planning and Navigation of Overhead Traveling Crane with three Dimensioned Transport Based on a Diffusim Equation Strategy"Advances in Manufacturing, Springer. 335-347 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 兼原明宏、寺嶋一彦、定森健: "高位置情報に基づく3次元天井クレーンのモデリングと搬送制御(第1報、高位置モデルの導出)"日本機械学会論文集(C編). 64・628. 4777-4782 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 兼原明宏、寺嶋一彦、定森健、宗利秀和: "高位置情報に基づく3次元天井クレーンのモデリングと搬送制御(第2報、ロープ長変化を考慮した高位置フィードバック気化系の描等)"日本機械学会論文集(C編). 64・628. 4783-4790 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 兼原明宏、寺嶋一彦、鈴木莉雄、殷雪: "障害物認識と経路計画を考慮した天井クレーンの自律化"日本機械学会論文集(C編). 64・618. 487-494 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K.Terashima and M.Suzuki: "Path Planning and Motion Execution of Overhead Traveling Crane"Proc. of 14th IFAC World Congress IFAC'99, Beijing (China). 5-9 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K.Terashima and M.Suzuki: "Path Planning and Navigation of Overhead Traveling Crane with Three Dimensional Transport Based on a Diffusion Equation Strategy"Advances in Manufacturing, Springer. 335-347 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] A.Kaneshige, K.Terashima, K.Sadamori: "Modeling and Transferring Control of an Overhead Traveling Crane based on the Information of Object Position (1st Report, Modeling of Object Position in Overhead Traveling Crane)"Japan Society of Mechanical Engineering(C). Vol.64,No.628. 4777-4782 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] A.Kaneshige, K.Terashima, K.Sadamori: "Modeling and Transferring Control of an Overhead Traveling Crane based on the Information of Object Position ( 2nd Report, Design of Object-Position Feedback Controller Considering the change of Rope-length)"Japan Society of Mechanical Engineering(C). Vol.64,No.628. 4777-4782 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] A.Kaneshige, K.Terashima, M.Suzuki and L.Yin: "Autonomous Mobile Crane System Considering Obstacle Recognition and Optimal Path Planning"Japan Society of Mechanical Engineering(C). Vol.64,No.618. 487-494 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K.Terashima and M.Suzuki: "Path Planning and Motion Execution of Overheed Travelling Crane"Proceedings of 14th IFAC World Corgress. Q. 31-36 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] K.Terashima and M.Suzuki: "Path Planning and Navigation of Overhead Travelling Crene with Three Dimensioned Tronsport Based or a Diffusion Equation Strategy"Advances in Mavufacturing,Springer. 335-347 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 兼重明宏,寺嶋一彦,定森健: "荷位置情報に基づく3次元天井クレーンのモラリングと搬送制御(第1扱,荷位置モデルの導出)"日本機会学会論文集(C編). 64・628. 4777-4782 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 兼重明宏,寺嶋一彦,定森健,宗利秀和: "荷位置情報に基づく3次元天井クレーンのモラリングと搬送制御(第2扱,ロープ長変化を考慮した荷位置フィールドバック正業等の構築)"日本機会学会論文集(C編). 64・628. 4783-4790 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 兼重明宏,寺嶋一彦,鈴木薪雄,段雪: "障害物認識と経路計画を考慮した天井クレーンの自律化"日本機会学会論文集(C編). 64・618. 487-494 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 鈴木藤雄,寺嶋一彦: "ポテンシャル法を用いた3次元搬送クレーンの経路計画" 第42回システム制御情報学会研究発表講演会講演論文集. 77-78 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 兼重明宏,寺嶋一彦,鈴木藤雄,殷雷: "障害物認識と経路計画を考慮した天井クレーンの知能化" 日本機械学会論文集(C編). 64・618. 107-114 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 三好孝典・寺嶋一彦・森田正則: "時変振動機構に対する制振フィードフォワード制御入力の導出とクレーンへの応用" 日本機械学会論文集(C編). 64・624. 75-82 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 兼重明宏・寺嶋一彦・定森健: "荷位置情報に基づく3次元天井クレーンのモデリングと搬送制御(第1報,荷位置モデルの導出)" 日本機械学会論文集(C編). 64・628. 247-252 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 兼重明宏・寺嶋一彦・宗利秀和・定森健: "荷位置情報に基づく3次元天井クレーンのモデリングと搬送制御(第2報,ロープ長変化を考慮したに位置フィードバック制御系の構築)" 日本機械学会論文集(C編). 64・628. 253-260 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] S.G.Tzafestas: "Advances in Manufacturing" Springer, 419(pp.321-347) (1999)

    • Related Report
      1998 Annual Research Report

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Published: 1998-04-01   Modified: 2016-04-21  

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