A Cable-Suspended Intelligent Crane Assist Device for the Intuitive Manipulation of Large Payloads

摘要

This paper presents a cable-suspended crane system to assist operators in moving and lifting large payloads. The main objective of this work is to develop a simple and reliable system to help operators in industry to be more productive while preventing injuries. The system is based on the development of a precise and reliable cable angle sensor and a complete dynamic model of the system. Adaptive horizontal and vertical controllers designed for direct physical human-robot interaction are then proposed. Different techniques are then proposed to estimate the payload acceleration in order to increase the controller performances. Finally, experiments performed on a full-scale industrial system are presented.