Anti - Swing Control Abstract of a Suspended Load with a Robotic Crane

of a Suspended Load with a Robotic Crane Jae Y. Lew Ahmed Khalil Dept. of Mechanical Engineering Ohio University Athens, OH 45701 USA controlled velocity source which may not hold under a heavy load. In addition, it often requires an exact model of the overall system. This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppresses the swing motion of the load while the crane carries the load to a desired position. The analysis includes the nonlinear dynamics of the crane and two dimensional swing motion of the load, but the controller does not require the exact model of the crane nor payload. Using joint acceleration and one sampled delayed torque, the crane system is decoupled and then a linear controller is designed for both the crane motion and the load swing independently. Stability of the controller is proved and a simulation study is performed to show its effectiveness.