Design, Modeling, and Experimental Validation of Advanced Control Algorithms for Hoist, LT, and CT Operations using a Robotic Crane
Keywords:
cranes automation, Industry 5.0;, control algorithms;, computer vision;, key point mapping; collaborative;Abstract
This paper presents the design and experimental validation of a laboratory-scale robotic crane prototype (or "clone") capable of performing hoist travel (HT), long travel (LT), and cross travel (CT) operations. The testbed is tailored for validating advanced control theory and deep visual serving (DVS) in a controlled setting. The system enables the study of efficient, safe, and precise handling of materials by abstracting the complexities of a full-scale industrial environment. A prototype clone of a manufacturing crane was built and tested, demonstrating enhanced control precision, dynamic stability, and collaborative capabilities compared to traditional manual operation models. The experimental results confirm the feasibility of deploying non-linear anti-sway control and DVS for millimeter-level placement accuracy on a physical model.
