Cranes are widely used in weight handling operations, but it is not easy to operate it manually because of the swinging created by the load motion. In some industrial applications some kind of so called ant-sway control is applied to solve this problem. In many cases, measuring the sway angle is a precondition of such an algorithm, but this task is far from simple. There are many ways for angle measurement, so first of all I reviewed these methods and devices.
The reduced size crane in the Intelligent Robotics Laboratory at the department is equipped with mechanical angle measurement but its construction suffers from several disadvantages. After analyzing the problems I constructed a new device. I had its parts manufactured and I assembled the equipment. I also supplied it with two optical sensors, which allows us to measure angle and angular speed in a novel way.
After that, I realized experiments to check the accuracy of the angular speed measurement provided by the optical sensors. I compared it to values calculated from the angles measured by the mechanical device, and I used values calculated from mechanics theory as a reference.
Finally, I determined two control algorithms based on energy control using the angular speed measured by the optical sensors as feedback. After the theoretical calculations I tested the behavior of the closed loop system in simulation using various controller parameters, and compared the two methods.