| 摘要 |
As a transporter moves to the axis of X,Y, the load hanging to a rope(12) of the transporter sways to the direction of X,Y. In order to prevent this kind of sway, a sway angle measuring instrument using a laser beam measures the sway angle(theta-X,theta-Y) and inputs the data to a computer through an electric/electronic circuit. And to control transporter's position(X,Y) exactly, an encoder(5,9) is fixed to a motor and the number of rotation measured by the encoder is inputted to the computer, and is used for a position control algorithm.
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