Motion planning for three-dimensional overhead cranes with high-speed load hoisting

This paper proposes a systematic anti-swing motion-planning method for three-dimensional overhead cranes, based on the load-swing dynamics of a two-dimensional overhead crane. First, a model-following anti-swing control law is designed based on the load-swing dynamics of a two-dimensional overhead crane, where the Lyapunov stability theorem is used as a mathematical tool. Then a new anti-swing motion-planning scheme is designed for a two-dimensional overhead crane based on the model-following anti-swing control law and typical crane operation in practice. Finally, the new anti-swing motion-planning scheme is extended for a three-dimensional overhead crane, based on the geometric relationship between a three-dimensional overhead crane and its two-dimensional counterpart. As a result, the proposed method avoids solving the load-swing dynamics of a three-dimensional overhead crane which is much more complicated than that of its two-dimensional counterpart. Furthermore, the proposed method can be applied to a...

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