Overhead cranes are broadly used in industry. However, undesirable load swing is often induced with transportation. Therefore, various researches about control of positioning and swing suppression of crane load have been made. On the other hand, a worker operates a crane skillfully by manual-operation in transportation. Hence, support system and automation of crane operation are expected from t...

Overhead cranes are under-actuated systems. They have three outputs that need to be controlled, consisting of cargo swing angle, trolley displacement, and suspended cable length, but only two actuators: cargo lifting and trolley driving forces. The main objective of this study is to design a robust controller for an overhead crane that transfers cargo from point to point as fast as possible and...

Precise payload positioning by an overhead crane is difficult due to the fact that the payload can exhibit a pendulum-like swinging motion. The stabilization of loads that are carried by cranes is tedious, and the lack of truly efficient control strategies implies a large economical loss due to the additional time involved in the process. From a control theoretical point of view, cranes are und...

The paper is focusing on the material handling devices operation environment 3D-type presentation based on laser scanning systems and point of cloud data approach. Main attention was fixed at overhead travelling cranes and their operation space zone with determined and random character factor influences the workspace spatial volume. Supervising the transport means workspace get possibility mark...

This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces...

This paper discusses an inverse dynamics problem and proposes a trajectory generation method for wiresuspended mechanisms. The wire-suspended mechanisms are classi ed into two types, which are completely restrained type mechanisms and incompletely restrained type mechanisms. For the incompletely restrained type mechanisms, consideration of dynamics is important, because the motion of this mecha...

The control of 4-DOF underactuated overhead crane system poses a challenging control problem as it has extra degree of freedom (DOF) compared to its popular 3DOF variant. The extra DOF represents strong state coupling and hence more complicated system dynamics. We propose Geometric Passivity Based Control (PBC) methodology for synthesis of nonlinear stabilising feedback control law. The structu...