固有振動数成分除去法による天井走行クレーンの制振

（障害物回避に関する実験的検証）

抄録

In the present situation when the importance of logistics is expanding, the automation of overhead cranes is strongly desired. The automation needs the method which is able to handle both vibration control and obstacle avoidance. In order to meet this demand, the authors proposed a systematic method for designing path of the trolley whereby the trolley and the cargo are both able to avoid obstacles while minimizing the path as well as keeping the residual vibration suppressed. In this paper, the effectiveness of the proposed method is examined by experiment.