2P1-K01 天井クレーンにおける搬送物の障害物回避および荷揺れ抑制を考慮した搬送制御

抄録

This paper is concerned with an advanced transfer trajectory control of overhead traveling crane. In the overhead traveling crane, it is required to reach the target position in a short time, avoid the obstacles, and suppress the load sway. In this study, it is verified that a practical motion of the overhead traveling crane can be represented with the linear model. And, the transfer trajectory of the cart in the overhead traveling crane is designed in consideration of sway suppression, obstacle avoidance, and rapid transfer by the trajectory planning which has been proposed by anthers in recent study. The effectiveness of the proposed trajectory planning is verified using the overhead traveling crane.