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Anti-sway trajectory generation of incompletely restrained wire-suspended system

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Abstract

Incompletely restrained wire-suspended system is difficult to control payload swaying. To resolve this problem, frequency characteristic of 2D wire-suspended system is investigated with analysis of dynamics. It is shown that the characteristics are related not only to the mechanical property, but also to the position of the payload in the workspace. To mitigate unwanted swaying of payload, anti-sway trajectory is generated with input-shaping of impulse accelerations based on the frequency characteristic analysis of the system. Experiment of a wire flying system with the vibration reduction trajectory shows the effects of the proposed method.

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Authors and Affiliations

  1. Korea Institute of Industrial Technology, Ansan, Korea

    Jaehwan Park & Ohung Kwon

  2. School of Mechanical Engineering, Hanyang University, Seoul, Korea

    Jong Hyeon Park

Authors
  1. Jaehwan Park
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  2. Ohung Kwon
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  3. Jong Hyeon Park
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Corresponding author

Correspondence to Jong Hyeon Park.

Additional information

Recommended by Editor Haecheon Choi

Jaehwan Park received his B.S. and M.S. degrees in mechanical engineering from Hanyang University, Seoul, Korea, in 2010 and 2012, respectively. He is currently a researcher at Korea Institute of Industrial Technology (KITECH), Ansan, Korea. His research interests include legged robots, and wire-suspended system control.

Ohung Kwon received the B.S. degree in the School of Mechanical Engineering, the M.S. in the Department of Precision Mechanical Engineering, and the Ph.D. degree in the Department of Mechanical Engineering from Hanyang University, Seoul, Korea, in 1999, 2001, and 2009, respectively. He is currently a senior researcher at Korea Institute of Industrial Technology (KITECH), Ansan, Korea. His current research interests are related to biped robots, quadruped robots, haptics, virtual reality, and cable-driven manipulator.

Jong Hyeon Park received his B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 1981 and his S.M. and Ph.D. degrees from the Massachusetts Institute of Technology (MIT), Cambridge, in 1983 and 1991, respectively. Since 1992, he has been with the School of Mechanical Engineering at Hanyang University, Seoul, Korea, where he is currently a Professor. His research interests include biped robots, robot dynamics and control, haptics, and bio-robots. He is a member of the IEEE (Institute of Electrical and Electronics Engineers), KSME (Korea Society of Mechanical Engineers), ICROS (Institute of Control, Robotics and Systems), KROS (Korea Robotics Society), KSAE (Korean Society of Automotive Engineers), KSPE (Korean Society of Precision Engineering) and KSEE (Korean Society for Engineering Education).

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Park, J., Kwon, O. & Park, J.H. Anti-sway trajectory generation of incompletely restrained wire-suspended system. J Mech Sci Technol 27, 3171–3176 (2013). https://doi.org/10.1007/s12206-013-0838-8

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  • DOI: https://doi.org/10.1007/s12206-013-0838-8

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