Anti-Swinging Input Shaping Control of an Automatic Construction Crane Articles uri icon

publication date

  • July 2008

start page

  • 549

end page

  • 557


  • 3


  • 5

International Standard Serial Number (ISSN)

  • 1545-5955

Electronic International Standard Serial Number (EISSN)

  • 1558-3783


  • This paper describes the control of an automatic overhead crane for assembly of modular building elements. The automatic system was developed using a commercial full-size crane, which was modified by adding adequate sensors, servomotors, and control strategy. The crane, which maintained its original cables, was converted to a robotic system, and is controlled via a computer-based multiaxes control board. The implemented algorithms solve two main problems of module assembly: 1) precision positioning of large and heavy modules in the order of a few centimeters, and 2) anti-swinging transportation of modules, even in difficult weather conditions (not extreme). The implementation of the anti-swinging control is achieved using the on-line two-dimensional inclinometer measurements and an on-line calculation of input impulse trains. The developed input-shaping control is divided into two phases: straight line motion and external perturbances cancellation. Experimental results of the developed algorithms which demonstrate the effectiveness of the new process are presented.