An automated gantry crane as a large workspace robot

In the context of further automation of manufacturing processes, automated transportation of heavy weights using cranes becomes more and more important. Applying the skills of robots to crane automation, a wide market of new applications could be developed. The main idea is to interpret the crane as a large workspace-serving robot. The crane hook represents the effector of the robot. As an example for the effector, an automated storage and retrieval unit for rack operations by a crane with three active auxiliary effector axes has been developed and integrated into the control concept. The control has been realized for a reconstructed 5-t-bridge crane with workspace dimensions of 30 m×8.7 m×7 m.