Notheis, Simon; August, Wilhelm; Hein, Björn; Wörn, Heinz (Institute for Process Control and Robotics (IPR), Karlsruhe Institute of Technology (KIT), Germany)
This paper presents physical models and control algorithms for safe transport of suspended loads and objects susceptible to lateral forces. The derived models were used to design an on-line controller that minimizes such disturbing influences during transport. The control algorithms were tested in physical simulations and real applications and comparisons between both systems will be presented. By integrating the algorithms into an Augmented Reality (AR) system, the user can control and interact with the system and evaluate simulated movements via augmentation before commanding the actual robot.