CN103260832A - 用于控制使用缆线的自主平台的系统和方法 - Google Patents

用于控制使用缆线的自主平台的系统和方法 Download PDF

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Publication number
CN103260832A
CN103260832A CN201180056631XA CN201180056631A CN103260832A CN 103260832 A CN103260832 A CN 103260832A CN 201180056631X A CN201180056631X A CN 201180056631XA CN 201180056631 A CN201180056631 A CN 201180056631A CN 103260832 A CN103260832 A CN 103260832A
Authority
CN
China
Prior art keywords
information
cable
length
autonomous platform
tension
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201180056631XA
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English (en)
Chinese (zh)
Inventor
崔允瑞
禹甲柱
殷钟浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Heavy Industries Co Ltd
Original Assignee
Samsung Heavy Industries Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020100117504A external-priority patent/KR101194747B1/ko
Priority claimed from KR1020100118173A external-priority patent/KR101194749B1/ko
Application filed by Samsung Heavy Industries Co Ltd filed Critical Samsung Heavy Industries Co Ltd
Publication of CN103260832A publication Critical patent/CN103260832A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
    • B63B2043/047—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability by means of hull shapes comprising a wide hull portion near the design water line, and a slender, buoyancy providing, main hull portion extending towards the bottom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Control And Safety Of Cranes (AREA)
CN201180056631XA 2010-11-24 2011-11-23 用于控制使用缆线的自主平台的系统和方法 Pending CN103260832A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
KR1020100117504A KR101194747B1 (ko) 2010-11-24 2010-11-24 와이어를 이용한 자율이동장치 제어 시스템 및 방법
KR10-2010-0117504 2010-11-24
KR10-2010-0118173 2010-11-25
KR1020100118173A KR101194749B1 (ko) 2010-11-25 2010-11-25 와이어를 이용한 자율이동장치 제어 시스템 및 방법
PCT/KR2011/008983 WO2012070867A2 (ko) 2010-11-24 2011-11-23 와이어를 이용한 자율이동장치 제어 시스템 및 방법

Publications (1)

Publication Number Publication Date
CN103260832A true CN103260832A (zh) 2013-08-21

Family

ID=46146304

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201180056631XA Pending CN103260832A (zh) 2010-11-24 2011-11-23 用于控制使用缆线的自主平台的系统和方法

Country Status (5)

Country Link
US (1) US20130253751A1 (enExample)
JP (1) JP2014504397A (enExample)
CN (1) CN103260832A (enExample)
DE (1) DE112011103897T5 (enExample)
WO (1) WO2012070867A2 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113548542A (zh) * 2021-07-12 2021-10-26 三一海洋重工有限公司 一种起重设备的电缆收放缆控制方法、装置以及系统
RU2791827C1 (ru) * 2022-09-02 2023-03-13 Автономная некоммерческая организация высшего образования "Университет Иннополис" Тросовая система с пассивным динамическим гасителем колебаний

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JP6271288B2 (ja) * 2014-02-20 2018-01-31 Ntn株式会社 リンク作動装置の制御装置および制御方法
DE102014015335B4 (de) * 2014-10-17 2016-08-04 Theodor Trautmann GmbH Bauunternehmen und Beton- und Stahlbetonbaubetrieb Generative Fertigungsvorrichtung und Fertigungsverfahren zm schichtweisen Aufbau von Bauwerken
EP3366430B1 (de) * 2017-02-22 2019-08-07 SICK STEGMANN GmbH Fördervorrichtung zum befördern von objekten und/oder personen
EP3680072B1 (en) * 2017-09-08 2024-05-01 NTN Corporation Work device using parallel link mechanism
US11446812B2 (en) * 2017-12-22 2022-09-20 Marchesini Group S.P.A. Cable-driven robot
KR102019418B1 (ko) * 2018-03-20 2019-09-06 전남대학교산학협력단 병렬 케이블로봇의 견실제어를 위한 스마트 윈치 시스템
WO2019208871A1 (ko) * 2018-04-25 2019-10-31 전남대학교산학협력단 물류이송 케이블 로봇 시스템 및 이를 이용한 물류 관리 방법
JP7440201B2 (ja) * 2019-04-09 2024-02-28 マッスル株式会社 位置制御装置
CN112077836B (zh) * 2020-09-08 2024-01-23 北京北特圣迪科技发展有限公司 一种基于四柔索牵引并联执行器的高架吊杆误差校正方法
US12227316B2 (en) * 2021-07-02 2025-02-18 Star Harbor Fly, LLC Suspended payload for parabolic flight
JP7788695B2 (ja) * 2022-05-27 2025-12-19 国立大学法人東京科学大学 移動体制御装置、移動体制御システム、移動体システム、移動体制御方法及び移動体制御プログラム
CN116494235B (zh) * 2023-05-04 2025-12-19 北京理工大学 连续体机器人的控制方法、装置、设备及介质

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US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
JP2003305673A (ja) * 2002-04-15 2003-10-28 Mitsubishi Heavy Ind Ltd 衛星移動ロボットシステム
KR20090124142A (ko) * 2008-05-29 2009-12-03 삼성중공업 주식회사 선체 블록 내부 작업을 위한 이동장치

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JPS5690798A (en) * 1979-12-24 1981-07-23 Mitsubishi Heavy Ind Ltd Precise moving system of bench vessel
JP3089129B2 (ja) * 1993-03-15 2000-09-18 三菱重工業株式会社 水上浮動体の自動転船装置
JP2731129B2 (ja) * 1995-05-02 1998-03-25 株式会社共和機械製作所 懸吊移動機
US20100279255A1 (en) * 2007-02-16 2010-11-04 Ohio University Vehicle simulator system
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JP2009150056A (ja) * 2007-12-18 2009-07-09 Chugoku Electric Power Co Inc:The ゴンドラ移動装置
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US5585707A (en) * 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
JP2003305673A (ja) * 2002-04-15 2003-10-28 Mitsubishi Heavy Ind Ltd 衛星移動ロボットシステム
KR20090124142A (ko) * 2008-05-29 2009-12-03 삼성중공업 주식회사 선체 블록 내부 작업을 위한 이동장치

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113548542A (zh) * 2021-07-12 2021-10-26 三一海洋重工有限公司 一种起重设备的电缆收放缆控制方法、装置以及系统
RU2791827C1 (ru) * 2022-09-02 2023-03-13 Автономная некоммерческая организация высшего образования "Университет Иннополис" Тросовая система с пассивным динамическим гасителем колебаний

Also Published As

Publication number Publication date
WO2012070867A2 (ko) 2012-05-31
JP2014504397A (ja) 2014-02-20
DE112011103897T5 (de) 2013-08-22
US20130253751A1 (en) 2013-09-26
WO2012070867A3 (ko) 2012-09-27

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Application publication date: 20130821