Simulation of an anti-pendulum control system for a shipboard knuckle boom crane. The crane has 5 degrees-of-freedom plus 2 more from the swing angles of the payload. The work was performed by Iain Martin, and some of his work has been published, with more on the way.
Initial hardware testing of an anti-pendulum control system for a shipboard 4 degree-of-freedom knuckle boom crane. The crane has 4 degrees-of-freedom, plus 2 more from swing angles of the payload. The payload/hook, has an inertial measurement unit which determines the motion and the crane compensates to keep the load stationary. The work was performed by Ryan McKenzie, you can find his MASc thesis on our publications list.
Natural frequency testing of an anti-pendulum control system for a shipboard 4 degree-of-freedom knuckle boom crane. The crane has 4 degrees of freedom plus 2 more from the payload swing angles. The payload/hook, has an inertial measurement unit which determine the motion and the crane compensates to keep the load stationary. The work was performed by Ryan McKenzie, you can find his MASc thesis on our publications list.