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TECHNICAL PAPERS

A New Motion-Planning Scheme for Overhead Cranes With High-Speed Hoisting

[+] Author and Article Information
Ho-Hoon Lee

Department of Mechanical Engineering, Tulane University, New Orleans, Louisiana 70118e-mail: hhlee@tulane.edu

J. Dyn. Sys., Meas., Control 126(2), 359-364 (Aug 05, 2004) (6 pages) doi:10.1115/1.1767855 History: Received June 24, 2002; Revised October 14, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

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Lee, H.-H., 2002, “A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed,” Proc. of IMECE 2002, Paper No. IMECE2002-DSC-33127, New Orleans, Louisiana.
Lee,  H.-H., 1998, “Modeling and Control of a Three-Dimensional Overhead Crane,” ASME J. Dyn. Syst., Meas., Control, 120, pp. 471–476.
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d’Andrea-Novel, B., and Boustany, F., 1991, “Adaptive Control of a Class of Mechanical Systems Using Liniarization and Lyapunov Methods. A Comparative Study on the Overhead Crane Example,” Proc. of the 30th IEEE Conf. on Decision and Control, Brighton, England, Dec., pp. 120–125.
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Singhose,  W., Porter,  L., Kenison,  M., and Kriikku,  E., 2000, “Effects of Hoisting on the Input Shaping Control of Gantry Cranes,” Control Eng. Pract., 8, pp. 1159–1165.
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Figures

Grahic Jump Location
Plane model of an overhead crane
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Flowchart of the proposed motion planning
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Velocity profiles for trajectory references
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Trajectory generation for a medium traveling without load hoisting
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Trajectory generation for a medium traveling with load hoisting
Grahic Jump Location
Trajectory generation for a long traveling with load hoisting

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