Path planning method for dual cranes considering the changes of load ratio

This paper proposes a path planning method for cooperative lifting of dual cranes, aiming at the problem that the load ratio of each crane changes constantly in the whole process of path planning of dual cranes. Firstly, the free configuration space is attained by analyzing the lifting scene. Secondly, the actual load of each crane, that is part of the load ratio, is calculated using the equilibrium conditions. Based on this calculation, a path planning method for dual cranes considering the change of load ratio is designed which can ensure that both of the cranes have reasonable load ratio and the lifting object avoids collision with obstacles in the operation process of dual cranes. The result of simulation shows that the method can plan a lifting path effectively and satisfy the requirement of the actual operation.