Swing-Free Transport of Suspended Objects With a Path-Controlled Robot Manipulator

[+] Author and Article Information
G. P. Starr

Department of Mechanical Engineering, The University of New Mexico, Albuquerque, NM 87131

J. Dyn. Sys., Meas., Control 107(1), 97-100 (Mar 01, 1985) (4 pages) doi:10.1115/1.3140715 History: Received February 15, 1985; Online July 21, 2009


Objects which cannot be directly grasped by the end effector of a robot manipulator and must be carried by a hook or similar device are susceptible to swinging during transport. For a simply suspended object, it is possible to use a path-controlled manipulator to achieve a swing-free motion. The trajectory consists of an initial acceleration to an intermediate velocity, then a secondary acceleration to final velocity. An experimental demonstration of the method is presented.

Copyright © 1985 by ASME
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