Inverse motion planning method for overhead crane systems with state constraints

The trajectory planning problem with state constraints of overhead crane systems is considered in this paper. A new method, that is, an inverse motion planning method, is proposed. On this basis, a new trajectory planner is designed. The payload swing angle trajectory is designed first, and then by substituting it into the dynamic equations, the trolley trajectory is derived. For any transportation tasks, the adjustable parameter of the planner is computed by solving the state constraints such that the system states; that is, the trolley acceleration, trolley speed, and payload swing angle will not exceed their predefined constraints. Several experimental tests are conducted to verify the swing elimination performance of the proposed method.

Automated summary

This paper considers the trajectory planning problem with state constraints of overhead crane systems and proposes a new inverse motion planning method. By computing adjustable parameters to satisfy state constraints, the system states can be ensured to not exceed the predefined constraints.