An LQR controller in the obstacle avoidance of a two-wires hammerhead crane

In order to reduce the oscillations of the load in cranes, we introduce a two-wired hammerhead crane. We analyse the new dynamics, proposed a novel control which uses a virtual one-wired crane that is equivalent to the new two-wired one. An algorithm for avoidance obstacle collision is presented also. This avoidance is presented in two different trajectories, the first one over the obstacle, and the other one surrounding the obstacle; in both situations we reduce the oscillations compared with the single wire crane. Simulations and experiments illustrate the results.