An improved coupling analysis-based motion planning approach for underactuated overhead cranes

In the presented paper, we propose an improved coupling analysis-based motion planning scheme for underactuated overhead cranes, to achieve both precise trolley locating and payload swing elimination. Specifically, by analyzing the trol-ley/payload kinematic coupling behavior, a novel payload swing eliminating component is constructed firstly. Subsequently, we combine the derived swing eliminating component with a positioning reference trajectory in a linear manner to generate the ultimate trajectory, whose performance is proven by rigorous mathematical analysis. Compared with existing methods, the proposed approach needs no iterative optimization and presents a simple trajectory structure. Numerical simulation results illustrate that the planned trajectory can efficiently suppress and eliminate the payload swing, especially the residual swing, while guaranteeing precise trolley positioning.