Vibration control of a telescopic handler using time delay control and commandless input shaping technique

摘要

A telescopic handler is a type of construction machinery used for the loading, transporting and unloading of various forms of cargo. To increase its productivity, the boom of the telescopic handler should be operated at high-speed mode without any occurrence of vibration. Residual vibration, however, in the boom often arises when lifting cargo to higher positions. To solve this problem associated with the occurrence of vibration, we applied time delay control and commandless input shaping technique, which is a modification-based on the concept of Input Shaping Technique. We confirmed their effectiveness through experiments.