Publication: Anti-swing control of suspended loads on shipboard robotic cranes
5
Issued Date
2005
Resource Type
Language
eng
Rights
Mahidol University
Bibliographic Citation
Systematics, Cybernetics and Informatics. Vol. 3, No. 1 (2005), 35-40
Suggested Citation
Suthakorn, Jackrit, Parker, Gordon G. Anti-swing control of suspended loads on shipboard robotic cranes. Systematics, Cybernetics and Informatics. Vol. 3, No. 1 (2005), 35-40. Retrieved from: https://repository.li.mahidol.ac.th/handle/123456789/3362
Research Projects
Organizational Units
Authors
Journal Issue
Thesis
Title
Anti-swing control of suspended loads on shipboard robotic cranes
Author(s)
Abstract
Currently, the speed at which materials can be
transferred between ships at sea is limited by sea
conditions. Rough sea conditions cause the payload to
swing making load transfer difficult and timeconsuming.
The objective of this research is to develop
a real-time, command compensating control for
reducing sea state induced payload swing for shipboard
robotic cranes. The future use of this control strategy
will be to facilitate faster “ship-to-ship” payload transfer
in rough sea conditions. In this study, only the seainduced
rotational motion of the ship is considered,
since it is assumed that a station-keeping control
maintains a constant position of the ship. This rotational
motion is modelled using pitch-yaw-roll Euler angles.
The shipboard robotic crane is modelled as a spherical
pendulum attached to a three-degree-of-freedom
manipulator. The three degrees-of-freedom are azimuth
(rotation about an axis normal to the ship’s deck),
elevation (rotation about an axis parallel with the ship’s
deck, also referred to as luffing), and lift-line length. An
inverse kinematics based approach and a sliding mode
control strategy are explored. Both approaches use the
azimuth and the elevation capability of the crane
manipulator to maintain a horizontal position of the
suspended load to reduce sea-induced payload sway.