DocumentCode
2999400
Title
Garbage grab bucket controller based on input shaping and PD feedback control
Author
Dai, Shijie ; Ren, Gang ; Zhao, Lei ; Ren, Weiguo
Author_Institution
Res. Inst. of Robot. & Autom., Hebei Univ. of Technol., Tianjin
fYear
2008
fDate
1-3 Sept. 2008
Firstpage
1790
Lastpage
1793
Abstract
A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.
Keywords
PD control; cranes; feedback; position control; PD feedback control; bucket dynamics; garbage grab bucket controller; trolley; Control systems; Cranes; Damping; Feedback control; Induction motors; PD control; Payloads; Robotics and automation; Shape control; Switches; Anti-sway; Crane control; Garbage grab bucket; Input shaping; Oscillation control;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location
Qingdao
Print_ISBN
978-1-4244-2502-0
Electronic_ISBN
978-1-4244-2503-7
Type
conf
DOI
10.1109/ICAL.2008.4636447
Filename
4636447
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