Dissertation/Thesis Abstract

Intelligent Collaborative Gantry Crane
by Guo, Fangzheng, M.S., Tufts University, 2017, 84; 10253797
Abstract (Summary)

We designed and built a low-cost human-scale gantry crane system, as an intelligent and collaborative tool for both collaborative robots and human operators to enable intuitive lift and transportation operations. The system was built on modularized and adjustable structures. A vision tracking control interface using an IR beacon and two camera tracking systems was designed and tested for planar motions. A position and gesture control interface was developed for the lifting. Moreover, this gantry crane is equipped with easy-to-use electronics, such as Arduino and Xbee, and it is programmed using open source libraries. It will serve as a platform for future research such as manipulator design, anti-swing control, and path planning algorithms.

This thesis discusses the design process, shows the hardware and software, and provides a demonstration of our system.

Indexing (document details)
Advisor: Messner, William C.
Commitee: Moaveni, Babak, Rife, Jason
School: Tufts University
Department: Mechanical Engineering
School Location: United States -- Massachusetts
Source: MAI 56/03M(E), Masters Abstracts International
Source Type: DISSERTATION
Subjects: Mechanical engineering, Robotics
Keywords: Gantry crane, Gesture control, PID control, User interface, Vision tracking
Publication Number: 10253797
ISBN: 9781369627510
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