Modeling and control of rocking in cable-riding systems

Author

Vaughan, John

Author_Institution

Dept. of Mech. Eng., Univ. of Louisiana at Lafayette, Lafayette, LA, USA

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

6

Abstract

Cable-riding suspended systems are commonplace, with applications ranging from ski lifts to tramways to material movers in mining operations. Another, more recent application is the robotic inspection of cables using robots that ride along the cables which they are inspecting. The Expliner robot is one such device. It inspects live, high-voltage power lines while moving along them. For all of these cable-suspended systems, rocking oscillation can reduce safety and efficiency of operation. This paper presents a model to identify the key dynamic factors of this rocking motion. Then, input shaping is used to limit rocking from both motion along the cable and controlled center-of-mass shifts.

Keywords

cables (mechanical); industrial robots; inspection; mining industry; mobile robots; motion control; robot dynamics; safety systems; suspensions (mechanical components); Expliner robot; cable-riding suspended systems; controlled center-of-mass shifts; mining operations; operation efficiency reduction; operation safety reduction; robotic cable inspection; rocking control; rocking modeling; rocking oscillation; Mechanical cables; Oscillators; Power cables; Pulleys; Robots; Sensors; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606323

Filename

6606323