Simulating Motion of an Operator-Controlled Gantry Crane in a Cluttered Work Environment Available to Purchase

Manipulating payloads with overhead gantry cranes can be challenging due to the oscillations induced by the crane motion and by external disturbances. The problem gets increasingly difficult when the work environment is cluttered with obstacles that must be avoided. This paper examines this problem and investigates the role of the operator actions. To do this, simple mathematical models of the operator behavior and crane dynamics are developed. Furthermore, the effect of adding an input shaping controller to reduce oscillations is examined.