An Application of Oscillation Damped Motion for Suspended Payloads to the Advanced Integrated Maintenance System
Description: Transportation of objects using overhead cranes can induce pendulum motion of the object, which usually must be damped or allowed to decay before the next process can take place. Recent work at Sandia National Laboratories (SNL) has shown that oscillation damped transport and swing-free stops are possible by properly programming the acceleration of the transporting crane. This paper reviews the theory associated with oscillation-damped trajectories for simply suspended objects and describes a specific, full-scale implementation of the damped oscillation methods for the Oak Ridge National Laboratory (ORNL) Advanced Integrated Maintenance System (AIMS). Hardware and software requirements and constraints for proper operation are discussed. Finally, test results and lessons learned are presented. 5 refs., 4 figs.
Date: January 1, 1990
Creator: Noakes, M. W.; Petterson, B. J. & Werner, J. C.
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