Studies of human operators manipulating double-pendulum bridge cranes

Crane oscillations make it challenging to manipulate payloads quickly, accurately, and safely. The problem is compounded when the payload creates a double-pendulum effect. This paper presents an input-shaping control method for reducing double-pendulum oscillations. Experiments with human operators driving a 10-ton industrial bridge crane are used to verify the effectiveness of the method. These experiments show that operators perform manipulation tasks faster and safer with the proposed control scheme.