Transporting and rotating control of a jib crane by control moment gyro

This paper describes an approach of the transporting and suppressing control of a rotating cargo for a jib crane. First, we show that the angle of the twisting cargo is measured using inertial measurement unit, and next proposed the gyro system with a control moment gyro implemented on the cargo. In experiments, we confirmed to transport the cargo with preventing the translational and twist sway using the gyro system.