Abstract: This paper proposes a motion-planning method for a high-performance anti-swing control of overhead cranes, where the motion-planning problem is solved as a kinematic problem. First, an anti-swing ...

Abstract: This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows ...

Abstract: In this paper, a new dynamic model of a three-dimensional overhead crane is derived based on a newly defined two-degree-of-freedom swing angle. The dynamic model describes the simultaneous ...

Abstract: In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A ...