Abstract:
Presents an impedance control scheme through which a human operator can move an overhead crane in the x-y plane without applying excessive force. The human pushing force is not measured directly, but it is estimated from angle and position measurements. We show that this method is an effective way to provide intuitive control for overhead cranes.
Reference:
J.T. Wen, D. Popa, G. Montemayor, P.L. Liu (2001). Human Assisted Impedance Control of Overhead Cranes.
2001 Conference on Control Applications, Mexico City, Mexico, Sept. 2001.
Publication Type:
Conference Articles