Abstract:This paper presents an effective control method for three-dimensional (3D) overhead cranes with six degrees of freedom (DOF). Two payload swings and an axial payload oscillation should be minimized besides driving the bridge, trolley, and hoisting drum to bring the payload to the desired position in space. First, a novel 3D-6DOF crane model is developed, where the sixth degree of freedom is axial cargo oscillation that has never been considered in previous studies. A controller is then designed using the hiera… Show more
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