Residual swing suppression of suspended loads using parametric acceleration profiles

The paper presents a motion planning method for swing suppression of suspended loads transported by bridge or gantry cranes. Acting on the reference motion command of the trolley and using a parametric acceleration profile, it is possible to avoid the generation of residual oscillations, without changing the motion time and the total displacement which must be covered by the trolley. This technique can be easily implemented on an actual crane, provided that a servomotor with position and/or velocity feedback is available for the motion control of the trolley