Multiple axis boom crane maneuver generation for payload swing suppression

This paper considers the generation of open-loop inputs for multiple axis, swing-free movement of crane payloads. A particular crane is considered having a geometry that results in payload dynamic equations that are nonaffine in the crane inputs. Unlike previously considered systems with affine in the input swing dynamic equations, a closed form, symmetric solution is not generally available. Therefore, a basis function optimization process is used to generate the crane input time histories given the initial and desired final configurations. Of particular interest is the effect of the nonideal joint-level servo dynamics. Using an experimentally verified crane simulation, residual swing is shown to be virtually eliminated when nonideal joint dynamics are considered. When these phenomenon are neglected during the maneuver generation process the final residual swing suffers. In addition, the total maneuver time can be shortened by exploiting the known actuator saturation behavior