The paper proposes a new approach to efficiently control three-dimensional overhead crane with 6 degrees of freedom (DoF). Most the works proposing law for gantry assume that it has five output variables, including three positions trolley, bridge, and pulley two swing angles hoisting cable. In fact, elasticity cable, which causes oscillation in cable direction, is not fully incorporated into mo...

Depending on their dynamic properties, cranes can be classified as gantry and rotary cranes. In this paper, we will focus the so called ‘knuckle boom’ which are among most common types of A first result paper is to present a complete mathematical model for kind crane where it possible control three rotations cable length. On basis model, propose nonlinear law based energy considerations able pe...

In large ports, shipyards, and other places of handling operations, gantry cranes are widely used. As a typical slewing crane, its slewing-bearing gear ring is prone to tooth breakage problems due the existence long-term complex alternating load. This paper presents new fault analysis method based on position accuracy error. Firstly, relative displacement relationship between pinion teeth stres...