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This paper presents an advanced transfer trajectory planning in an automated overhead traveling crane. In this crane, it is required to plan the load transfer trajectory with avoiding the obstacles, suppressing the load sway and reaching the target position in a short time. In this study, we propose the fast transfer trajectory planning using an artificial potential method and a sequential quadratic programming with consideration for the obstacles avoidance, the load sway suppression and fast transferring while satisfying the limitations in the crane system. The transfer trajectory can be optimized fast by the sequential quadratic programming with giving the feasible initial trajectory which is planned with the artificial potential method. In this approach, the transfer trajectory can be generated automatically in a short time. The efficacy of the proposed trajectory planning is verified with the laboratorytype automated overhead traveling crane. |
