Research on anti-swing characteristic of redundancy cable-driven parallel robot
We propose a new shipboard crane configuration for offloading cargo in open seas. We show that the “Maryland Rigging” crane of ship’s configuration, used in association with a friction control mechanism, provides a very effective method for reducing load pendulation caused by the motion of the crane in the roll direction. The effectiveness of the control technique is obtained by comparing the performances of the “Maryland Rigging” configuration with the standard “rider block tagline system”, commonly used in crane ships. In most of the cases studied for which different sea conditions are considered, the “Maryland Rigging” reduces the root mean square swing of the load by an order of magnitude as compared to the current rider block configuration.