-Overhead Crane-

Overview

This laboratory aims for intelligence and high functionality of overhead crane used at factory. We conduct research on power-assist system that helps operators when they convey heavy or long objects, and full-auto system that is capable to calculate the trajectory automatically by recognizing the surrounding environment while also suppress the vibration.

Research Contents

■Power-assisted system

Generally, when a load is conveyed with the crane, the conveyance is performed through operator control panel etc. But, by using the power-assist system developed by this laboratory, the operator can convey by touching the load directly. By touching directly, the conveyance can be performed as the operator intents to do. Using assist by a motor, heavy load can be conveyed by little power. By applying about 10[N] force, load can be moved by about 0.4[m/s].

■Attitude control

By the conventional overhead crane structure, attitude control of the load was impossible. And so, by adding attitude control equipment developed by this laboratory to the overhead crane, in addition to the normal power-assist functionality, attitude control becomes possible. Then, the overhead crane becomes a flexible system by which an operator can convey the load satisfactorily.

■Full-auto system

The full-auto system is a conveyance system that automatically avoids obstacles, by recognizing the obstacles in surrounding environment and calculating the optimal course to the defined target position. Moreover, the load can be conveyed while at the same time performing oscillation control, and also obstacle avoidance can be done by rotating the load. Thereby, collision with obstacles, as well as collapse, can be prevented.

■Estimation Using Human Body Dynamics Model

We propose a new system that estimates the force applied to the object on the basis of the ground reaction force (GRF). If the applied force can be estimated from GRF, it becomes unnecessary to install sensors on the robot, and the problem of small signal-to-noise ratios can be solved. In addition, such a system would allow operators to use their hands freely.

Research Theme

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