抄録
This paper is concerned with an advanced transfer trajectory planning method of an 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. Therefore, the trajectory planning method using the optimization problem with considering input and state constraints in the overhead traveling crane, obstacle avoidance and vibration suppression is proposed in this paper. In the proposed approach, the trajectory optimization for 2-Dimensional transfer machine proposed by the authors in the previous study is applied to the trajectory planning of the overhead traveling crane. And, it is discussed how to give the cost function in the trajectory optimization with reducing the fluctuating cart motion. In the previous study, it takes a long time to derive the reference trajectory because of many variables in the trajectory optimization. Therefore in this study, we also proposed the fast solution for optimizing the trajectory by giving a feasible initial trajectory. The effectiveness of the proposed transfer trajectory planning method is verified by simulations and experiments of the overhead traveling crane.
