Stochastic Control of Gantry Type Manipulators with Suspended Loads

M. Rachkov and D. Kharin (Russia)


Stochastic control, load oscillation, and gantry type manipulator


The paper describes modeling of gantry type manipulators motion with a suspended load. The mathematical model takes into account stochastic disturbances acting to the load suspension point. The proposed approach allows solving the problem of the optimal control with minimization of oscillations and control power expenditure. The temporal evolution of the system solution is done for various disturbance intensities. Computer calculation results are presented as a function of the suspension length and the intensity of stochastic disturbances.

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