| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 103 === Overhead crane are important loading and unloading equipment for container handling in harbors and land transportation, they are also widely used in construction and manufacturing sites. In practical industries, overhead traveling cranes are usually manipulated by human operator. The transfer object can be freely moved in the three-dimensional space by human operator for various tasks. Although manipulation for the moving direction of crane is easy, the crane’s operation without vibration of the load is difficult for unskilled operators, and therefore the swinging of the object occurs and residual vibration is not only generated after the transfer is reached at a goal point but also hit the obstacle and then made an accident. Therefore, in this paper, a semi-automatic system is proposed in terms of obstacle avoidance by manual operation of human operator and feedback control for suppression of swing by automatic controller. Further, in order to heighten the safety and prevent the human error, the command input to avoid obstacles and go towards a goal is generated by the fusion of human command using joystick and ultrasound detect the environment information. In order to do more kind of statement that can’t achieve in the experiments. Develop a MATLAB GUI 3D platform to let all the people try on it. The effectiveness of the proposed system was demonstrated by simulations and experiments.
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