Anti-sway trajectory generation of incompletely restrained wire-suspended system

Abstract

Incompletely restrained wire-suspended system is difficult to control payload swaying. To resolve this problem, frequency characteristic of 2D wire-suspended system is investigated with analysis of dynamics. It is shown that the characteristics are related not only to the mechanical property, but also to the position of the payload in the workspace. To mitigate unwanted swaying of payload, anti-sway trajectory is generated with input-shaping of impulse accelerations based on the frequency characteristic analysis of the system. Experiment of a wire flying system with the vibration reduction trajectory shows the effects of the proposed method.