熟練操縦者の制御戦略を考慮した旋回クレーンの制御

抄録

A crane active on the construction site is the loading machine that transports load to a fixed position by doing the turn movement centering on a part of the boom. The fulcrum of the rope draws circular arc tracks in such turn cranes and the behavior of load is very complex. Therefor the operations that maintain sway of a turn crane depend on an operator's skill. We propose anti-sway control method of the rotary crane based on a skillful operator's knowledge. The computer simulation and experiment of the loading control were executed by using this method. It was confirmed that the proposed method is effective.