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• W2113142790 abstract "Payload manipulation using gantry cranes presents a challenging control problem because of the inherent system flexibility. If the crane is equipped with a large-mass hook and the payload is sufficiently small, then the problem is complicated because the crane can exhibit double-pendulum dynamics. This paper explores the double-pendulum effect for gantry cranes. A simple command shaping method is presented for dealing with only the first mode of vibration and experimental results verify its utility, even when the double-pendulum dynamics are present. The command shaping method is then modified to better handle the double-pendulum dynamics." @default.
• W2113142790 created "2016-06-24" @default.
• W2113142790 creator A5069918633 @default.
• W2113142790 creator A5076745920 @default.
• W2113142790 date "2002-11-27" @default.
• W2113142790 modified "2023-09-27" @default.
• W2113142790 title "Double-pendulum gantry crane dynamics and control" @default.
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• W2113142790 doi "https://doi.org/10.1109/cca.1998.721650" @default.
• W2113142790 hasPublicationYear "2002" @default.
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