Crane control apparatus and method

Patent No. 7,028,856

Issued: April 18, 2006
Filed: August 7, 2003

Inventors: Laundry; Bradford B. (Henrietta, NY); Liu; Li-te (Rochester, NY); Montemayor; Gustavo (Troy, NY); Popa; Dan O. (Troy, NY); Taylor; Michael K. (Marion, NY); Wen; John T. (Rensselaer, NY)
Assignee: Gorbel, Inc. (Fishers, NY) 

This crane control apparatus and method with swing control and variable impedance is intended for use with overhead cranes where a line suspended from a moveable hoist suspends a load. It is responsive to operator force applied to the load and uses a control strategy based on estimating the force applied by the operator to the load and, subject to a variable desired load impedance, reacting in response to this estimate. The human pushing force on the load is not measured directly, but is estimated from measurement of the angle of deflection of the line suspending the load and measurement of hoist position.


This application is a Continuation-In-Part of allowed U.S. patent application Ser. No. 10/068,640, filed 6 Feb. 2002 now U.S. Pat. No. 6,796,447, entitled CRANE CONTROL SYSTEM, and PCT/US02/03687, filed 7 Feb. 2002, entitled CRANE CONTROL SYSTEM. Priority is also claimed to Provisional Patent Application No. 60/267,850, filed on 9 Feb. 2001, which provisional application is incorporated by reference herein.

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