Boom arm active stabilization

[Parmin]

Has anyone work on boom arm stabilization?
I need to make a stabilizer system for a ship boom crane arm.

The idea is that moving items from ship to ship using  boom arms involves the need for the boom arms to be stabilized in 3D space independent to the movement of the ships.
Thus the arms are to be able to hold onto a steady position in the 3D space between both ships in real rocking motions to transfer items across.

I reckon the idea is similar to a tank pointing its gun barrel to a target while moving in an undulated terrain, the barrel is gyro stabilized against the movement of the tank.

If anyone have done similar stuff, could you share your technique?

Par.

[solutions]

Actually a tank barrel is a lot easier - due to its stiffness, you can just servo it at the gimbal and be done with it.  I'd put a 3D gyro at the boom tip and then create a model of the beam behavior dynamics (deflection, stiffness, and resonance) and embed that model into the servo loop that runs off the gyro telemetry.You have to actively damp the floppiness of the boom as you move it....via its pivot point. I'd think Labview might be the best tool for all this.

Sounds like a fun project.  Hopefully to be used for good, not evil....

[Parmin]

The boom arm I have is very stiff indeed, they are definitely stiff enough to do the job for the weight involved.
Ie. the booms are designed to carry 350 KG and the load to be transferred at any time is less than 15 kg.
So it actually can do without flexing.
The motor can do the job easily too for they are 24V 125A servo motors.

I sort of have an idea on how to approach this problem, its just that I would not want to re-invent the wheel..
These type of system are common, but I cannot find much writings of them.
Maybe my search-Fu need some polishing.

[Parmin]

Well,  Bugger me!

Solved the problem easier than I thought!!

I simply used FUTABA Gyro modules GY401 for the positional gyro data and it works just like that.

[Ichan]

Hopefully to be used for good, not evil....

Buccaneer? Then captain Jack Sparrow would like to have it... 

Seriously, I am interested to know more about your work - if you willing to. Is it use 3 servo?

-ichan (not a buccaneer nor smuggler)