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INS-based identification of quay-crane spreader yaw

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4 Author(s)
Louda, M.A. ; Australian Centre for Field Robotics, Sydney Univ., NSW, Australia ; Rye, D.C. ; Dissanayake, M.W.M.G. ; Durrant-Whyte, H.F.

A crucial problem in crane control is to identify exactly the position and orientation of the load in space. This paper describes a new non-contact method for determining the crane load location by means of an inertial navigation system (INS) and a Kalman filter. The Kalman filter estimates the spreader position, which is not observed by the INS. Experiments were conducted on a 1/15th geometric scale model of a quay-crane. The work has potential application in the development of integrated estimation and control systems for full-scale quay-cranes

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998