Invariant-based inverse engineering for fast and robust load transport in a double pendulum bridge crane

TL;DR

This paper introduces an invariant-based inverse engineering method for designing trolley trajectories in a double-pendulum bridge crane, enabling fast, robust payload transport without residual vibrations across various initial conditions.

Contribution

It develops a shortcut-to-adiabaticity approach that ensures stability and robustness in payload transport, surpassing traditional methods by avoiding boundary instabilities and resonance issues.

Findings

Payload transport without residual excitation achieved

Method effective across a range of initial conditions

Compared with exact dynamics to validate robustness

Abstract

We set a shortcut-to-adiabaticity strategy to design the trolley motion in a double-pendulum bridge crane. The trajectories found guarantee payload transport without residual excitation regardless of the initial conditions within the small oscillations regime. The results are compared with exact dynamics to set the working domain of the approach. The method is free from instabilities due boundary effects or to resonances with the two natural frequencies.