This article addresses the design of a discrete-time flatness-based tracking control for gantry crane and demonstrates practical applicability approach by measurement results. The required sampled-data model is derived an Euler-discretization with prior state transformation in such way that flatness continuous-time system preserved. Like case, controller performed two steps. First, exactly line...

In this paper a method is proposed for the reduction of vibration of loads carried by planar gantry crane, with hoisting of the load. The proposed method is based on the preconditioning of the inputs to the system by digital filtering the input function. Conventional FIR or IIR filters can be used for the preconditioning approach. Simulation results were used to demonstrate the effectiveness of...

A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of rigged legs instead of actuators to create a gantry. The legs are joined in a Stewart Platform configuration providing a means for canceling out rotations norm...

Rail-rail transshipment yards are an emerging and more e cient alternative to traditional shunting yards. Instead of a time-consuming reshu ing of railcars via shunting hills, in these modern yards, huge gantry cranes tranship containers between di erent freight trains. As multiple cranes process the trains in parallel, it is an important operational task to avoid interferences among cranes. To...

Introduction/purpose: To study the adequacy of applying numerical methods in modal analysis complex carrying structures cranes. Methods: Comparative application analytical method and - FEM. Results: Some comparative values parameters were obtained both analytically numerically for derived solution a gantry crane structure. Conclusion: It is shown that can give reliable general quality estimate ...

The time that containerships or transportation trucks spend in marine container terminals for loading and unloading their cargo is a real cost scenario which affects, not only the smooth operation of ports, but also affect the overall cost of container trade. The operators of shipping lines and container terminals are required to realize the importance of this issue and the costs associated wit...

Crane operation is a challenging task, due to the combined problem of obstacle avoidance and load swing suppression in underactuated conditions. This paper presents a human-machine interface that increases the operator’s perception of a gantry crane’s workspace. With this aim, a virtual environment resembling the workspace is connected with a haptic device. This allows the user to receive not o...