Title
Design and implementation of an Intelligent Controller for a Power Assisted Jib Crane

Abstract
Conventional power assisted material handling systems offer non-intuitive and clumsy means of manipulating the payload. The need for motion in straight lines restricts the deployment of Jib Cranes for most materials handling purposes. Jib Cranes also exhibit highly anisotropic behavior between motions along the boom and perpendicular to the boom.

A novel jib crane power assist that produces isotropic behavior between these two directions by powering the tangential direction is developed. The control system to produce this behavior is synthesized and the control is implemented using an embedded computer.

Source: Masters Thesis, Northwestern University, 6/2000

Title
The Design and Construction of an Intelligent Power Assist Jib Crane

Abstract
Current material handling systems exhibit anisotropic behavior. That is, their two planar degrees of freedom require different amounts of force input from the operator. Movement of these devices is correspondingly difficult. One of the three most prevalent material handling devices, the jib crane, is selected for research into creating isotropic motion. A platform for this research is created with two intended future directions in mind. The first direction creates isotropy by floating the boom over the load. The second direction adds a powered trolley and is capable of providing power assist to actually accelerate the load. The thesis walks the reader through the design of the platform. Selection of the jib crane is followed by the design and selection of a servo motor and transmission capable of supporting both future directions. A cable angle sensor and ultrasonic distance sensor provide the intelligence necessary to achieve isotropy.

Source: Masters Thesis, Northwestern University; August 1999