Manipulating payloads with overhead gantry cranes can be challenging due to the osillations induced by the crane motion and by external disturbances. The problem gets increasingly difficult when the work environment is cluttered with obstacles that must be avoided. This peper examines this problem and investigates the role of the operator actions. To do this, simple mathematical models of the operator behavior and crane dynamics are developed. Furthermore, the effect of adding an imput shaping controller to reduce oscillations is examined.
展开▼
