{"id":{"repo_id":"unlv","oai_identifier":"oai:oasis.library.unlv.edu:rtds-1539"},"canonical_url":"https://search.dev.ndltd.org/etd/unlv/oai:oasis.library.unlv.edu:rtds-1539","repository":{"repo_id":"unlv","name":"University of Nevada - Las Vegas","base_url":"https://oasis.library.unlv.edu/do/oai/"},"display":{"title":"Anti-swing control of overhead cranes","abstract":"Overhead cranes are widely used for transporting large and heavy suspended objects such as shipping containers. Acceleration and deceleration of the crane generally induce swinging motion in the suspended payload. A method is presented to find the trajectory for an overhead crane that will ensure the transfer of the payload in the shortest time and with minimum swinging along a specified path. The overhead crane and the suspended payload are modeled as a double pendulum with motion in three dimensional space. The equations of motion of the overhead crane and the payload are transformed in terms of a single path parameter which represents single degree of motion along the path. The resulting set of equations defines the phase space of admissible motion constrained by the path geometry and the forces exerted by the crane. By applying dynamic programming principles to the transformed set of equations of motion, the trajectory with the shortest time and with minimum swinging is determined.","abstract_html":"Overhead cranes are widely used for transporting large and heavy suspended objects such as shipping containers. Acceleration and deceleration of the crane generally induce swinging motion in the suspended payload. A method is presented to find the trajectory for an overhead crane that will ensure the transfer of the payload in the shortest time and with minimum swinging along a specified path. The overhead crane and the suspended payload are modeled as a double pendulum with motion in three dimensional space. The equations of motion of the overhead crane and the payload are transformed in terms of a single path parameter which represents single degree of motion along the path. The resulting set of equations defines the phase space of admissible motion constrained by the path geometry and the forces exerted by the crane. By applying dynamic programming principles to the transformed set of equations of motion, the trajectory with the shortest time and with minimum swinging is determined.","abstract_has_math":false,"creators":["Kathari, Murali Srinivas"],"institution":"University of Nevada, Las Vegas","degree_name":"Master of Science (MS)","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1995,"date_issued":"1995-01-01T08:00:00Z","date_published":"1995-01-01T08:00:00Z","updated_at":"2026-07-24T05:24:37Z","subjects":[],"languages":["English"],"rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["https://oasis.library.unlv.edu/rtds/540"],"render_values":[{"text":"https://oasis.library.unlv.edu/rtds/540","href":"https://oasis.library.unlv.edu/rtds/540","code":true}]}]},"links":{"outbound_url":"https://doi.org/10.25669/jtfc-6cgo","outbound_label":"DOI","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Kathari, Murali Srinivas"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:publisher","label":"Institution","values":["University of Nevada, Las Vegas"]},{"key":"dc:type","label":"Dc Type","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science (MS)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]},{"key":"dc:rights","label":"Dc Rights","values":["IN COPYRIGHT. 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The overhead crane and the suspended payload are modeled as a double pendulum with motion in three dimensional space. The equations of motion of the overhead crane and the payload are transformed in terms of a single path parameter which represents single degree of motion along the path. The resulting set of equations defines the phase space of admissible motion constrained by the path geometry and the forces exerted by the crane. By applying dynamic programming principles to the transformed set of equations of motion, the trajectory with the shortest time and with minimum swinging is determined."]},{"key":"dc:format","label":"Dc Format","values":["pdf"]},{"key":"dc:title","label":"Title","values":["Anti-swing control of overhead cranes"]}]}],"canonical_facts":{"dc:creator":["Kathari, Murali Srinivas"],"dc:description.abstract":["Overhead cranes are widely used for transporting large and heavy suspended objects such as shipping containers. Acceleration and deceleration of the crane generally induce swinging motion in the suspended payload. A method is presented to find the trajectory for an overhead crane that will ensure the transfer of the payload in the shortest time and with minimum swinging along a specified path. The overhead crane and the suspended payload are modeled as a double pendulum with motion in three dimensional space. The equations of motion of the overhead crane and the payload are transformed in terms of a single path parameter which represents single degree of motion along the path. The resulting set of equations defines the phase space of admissible motion constrained by the path geometry and the forces exerted by the crane. By applying dynamic programming principles to the transformed set of equations of motion, the trajectory with the shortest time and with minimum swinging is determined."],"dc:format":["pdf"],"dc:identifier":["10.25669/jtfc-6cgo","https://oasis.library.unlv.edu/rtds/540","https://oasis.library.unlv.edu/context/rtds/article/1539/viewcontent/uc.pdf"],"dc:language":["English"],"dc:publisher":["University of Nevada, Las Vegas"],"dc:rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["Anti-swing control of overhead cranes"],"dc:type":["Text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["Master of Science (MS)"]},"updated_at":"2026-07-24T05:24:37Z"}