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This paper addresses the issue of vibrations in overhead crane systems during payload transportation. A vibration-free planning trajectory generation algorithm is developed for overhead crane systems, combined with transportation time optimization. By leveraging the flatness theory, the trajectory planning problem for the trolley motion is solved. Planning is undertaken with due consideration for the system's physical constraints. Furthermore, optimal transportation time can be achieved by partitioning time. The effectiveness of the developed method in meeting the specified requirements is validated through simulations.

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Time-Optimal Flatness-Based Vibration Suppression Trajectory Planning for Overhead Cranes

  • 会议论文

  • 发表日期：

    2026年

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  • Thi Ly Tong,
  • Tuan Anh Nguyen,
  • Ngoc-Tam Bui,
  • Quy-Thinh Dao,
  • Minh Duc Duong

摘要

This paper addresses the issue of vibrations in overhead crane systems during payload transportation. A vibration-free planning trajectory generation algorithm is developed for overhead crane systems, combined with transportation time optimization. By leveraging the flatness theory, the trajectory planning problem for the trolley motion is solved. Planning is undertaken with due consideration for the system's physical constraints. Furthermore, optimal transportation time can be achieved by partitioning time. The effectiveness of the developed method in meeting the specified requirements is validated through simulations.