Publications Details
Collision-free pickup and movement of large objects
An automated system is described for the sensor-based precision docking and manipulation of large objects. Past work in the remote handling of large nuclear waste containers is extendable to the problems associated with the handling of large objects such as steel coils. Computer vision and ultrasonic proximity sensing are used to control the precision docking of large objects, and swing-damped motion control of overhead cranes is used to control the position of the pickup device and suspended payload during movement. Real-time sensor processing and model-based control are used to accurately position payloads.