Oscillation damped movement of suspended objects

Transportation of objects using overhead cranes or manipulators can induce pendulum motion of the object. Residual oscillation from transportation typically must be damped or allowed to decay before the next process can take place. By properly programming the acceleration of the transporting device (e.g. crane) an oscillation damped transport and swing-free stop is obtainable. The authors review the theory associated with oscillation-damped trajectories for simply suspended objects and describe a particular implementation using a CIMCORP XR 6100 gantry robot