Control of a boom crane using installed stereo vision

Abstract

Boom cranes are used in many fields, in which a suspended load must be transported and positioned at the desired location without any swing. Therefore we studied positioning and swing suppression of a boom crane using visual feedback control. The boom crane has broad working space, so we use a stereo vision installed on the boom's rotary axis that has gazing motion to track the suspended load. The three dimensional position and the swing angle of the load are measured using this tracking stereo vision. The experimental control results are presented concerning with the tracking of the stereo vision, the positioning of the boom and the swing suppression of the suspended load.