Abstract
The operation of overhead cranes requires to reduce the load oscillations that arise both during the motion and after it ends. While the issue of ensuring zero residual vibrations has been widely investigated, less attention has been paid to transient oscillations. This work investigates the possibility of solving both problems using the tool of model-based motion planning, and in particular by means of a variational approach. The variational formulation allows for the synthesis of a crane motion that results in negligible residual oscillations and reduced peak values of the crane sway angle during motion. A comparison with the input shaping technique shows the practical advantages offered by the proposed method.
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Boscariol, P., Richiedei, D. (2019). A Variational Approach for the Reduction of Transient Load Sway in Overhead Cranes. In: Carbone, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2018. Mechanisms and Machine Science, vol 68. Springer, Cham. https://doi.org/10.1007/978-3-030-03320-0_49
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DOI: https://doi.org/10.1007/978-3-030-03320-0_49
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