Publications Details

Command shaping for residual vibration free crane maneuvers

Parker, Gordon G.

A general method for applying command shaping to various multiple degree of freedom cranes is described such that the payload moves to a specified point without residual oscillation. A dynamic programming is used for general command shaping for optimal maneuvers. The results taken are compared to near-optimal solutions where the commands are linear combinations of accelerations pulse basis functions. Simulation results and experimental verification for a variable load-line length rotary crane are also presented using design procedures.