TY - GEN
T1 - Modeling and control of rocking in cable-riding systems
AU - Vaughan, Joshua
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84886474123
U2 - 10.1109/ASCC.2013.6606323
DO - 10.1109/ASCC.2013.6606323
M3 - Conference contribution
AN - SCOPUS:84886474123
SN - 9781467357692
T3 - 2013 9th Asian Control Conference, ASCC 2013
BT - 2013 9th Asian Control Conference, ASCC 2013
T2 - 2013 9th Asian Control Conference, ASCC 2013
Y2 - 23 June 2013 through 26 June 2013
ER -