A technique to reduce swing of suspended loads transported by linear actuators

The technique described in the paper has been developed in order to eliminate or reduce the residual oscillations of suspended bodies, transported by robot arms. It is based on a suitable choice of the motion profile assigned to the linear actuator that drives the system. As it will be clarified in the paper, the motion command is defined through some coefficients that determine its shape. By means of an optimization technique these parameters can be modified without changing the average speed of the actuator, nor altering the continuity conditions imposed on the displacement and on its time derivatives at the initial and final time instants. Keywords—Dynamics, oscillations, motion optimization.