2-D load transfer control considering obstacle avoidance and vibration suppression

This paper is concerned with an advanced transfer control for load transfer machines such as a crane. In the load transfer machine, it is required to carry the load efficiently and safety. In order to satisfy this requirement, fast transfer of load, obstacle avoidance and vibration suppression have to be accomplished in the load transfer system. Therefore in this study, the load transfer control system which the transfer trajectory on a plane is optimized in consideration of the vibration suppression, obstacles avoidance and fast transfer is proposed. Moreover, in order to optimize the trajectory in a short time, the fast solution approach is also proposed in this study. The effectiveness of the proposed transfer control system is verified by the experiments using the laboratory type overhead traveling crane system.