Intelligent Collaborative Gantry Crane
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 ... read morefor 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
Thesis (M.S.)--Tufts University, 2017.
Submitted to the Dept. of Mechanical Engineering.
Advisor: William Messner.
Committee: Jason Rife, and Babak Moaveni.
Keywords: Mechanical engineering, and Robotics.read less