Damping of TILT oscillations of loads in automated crane systems

Abstract

In the sense of a large workspace serving robot, automated cranes need for the automated transport of loads an oscillation damping control with a high tracking accuracy to avoid collisions. But, extended dimensions of the rope-guided load can cause tilt oscillations which can not be damped by the crane control. Also picking up pallet boxes with a non symmetric gravity center regarding to the suspension point or canting in the pick-up phase results in inclination of the load. Therefore, a pick-up unit with an active control of these effects is realized. The efficiency of the control is presented based on measurement results.