Tagline System and Method for Motion Control of a Suspended Load

Abstract

_ 36 _ Tagline system (20) for controlling motion ofa load (46) suspended from a crane boom (36). A sagittal plane ofthe load extends perpendicularto a load body axis and through a centre of mass ofthe load. The system includes first and second taglines (51, 52) spanned from first and second exit points (61,62) at / nearthe boom, in forward direction (+YB), up to first and second coupling points (54, 55) at the load on opposite sides of the sagittal plane; a third tagline (53) spanned from a third exit point (63) associated with the boom, in lateral direction (iXB), up to a third coupling point (56) at the load on one side ofthe sagittal plane; a pose sensor (40) for dynamically determining a momentary load pose and exit point locations and generating momentary pose measurement signals, and a controller (22) for controlling motions ofthe load in three selected DOF by dynamically adjusting individual tagline lengths based on the pose measurement signals. [Fig.2a]