Closed-form kinematic solution of a non-parallel cable reeving crane system

Abstract

This paper presents the closed-form kinematic solutions, position and velocity of a non-parallel cable reeving crane system. These solutions are necessary in order to control a container crane that is widely used in cargo terminals. One PSD (position sensitive device) sensor and two IR (infrared) emissive beacons are used to find the angular position and angular velocity information-of two reference points of a moving spreader. The sensor and beacons are mounted on trolley and reference points of spreader respectively. By using this information, the exact position and velocity of the spreader are determined analytically. These results can be used in the anti-sway and anti-skew control of a container crane.