# Pendulum sway elimination using discrete angle measurements

OData: XML JSON What's this?The current document established the procedures and steps that have been executed in the development of a novel control system for sway elimination in cranes. At the beginning, it is shown the justification and the problem statement about why is necessary to develop this kind of control system for cranes. Besides, a summarized about the current control techniques that have been used for cranes is also mentioned. Afterwards, the mathematical models, as a simple pendulum and the real system, are simulated to determine useful parameters for the implementation. Moreover, the definition of laser slot sensor is set here, which is the fundamental logic control for the project. This control logic is also tested in each simulation model to identify the behavior of them, and the possible influence that these results could have in further steps. Then, in the implementation, a robotic arm is used to implement the developed control theory. Thus, laser sensors are used to determine the position of the load’s rope, so the control logic can make the necessary actions over the robotic arm to avoid the sway effect. Furthermore, the basic function of the robotic arm, and a review of all the used devices are set in this section. After, Flow charts which indicate the procedures of detection, mismatch algorithm, and control logic are shown here. Finally, the results and the conclusions of the project are established, and they show information about the accuracy of the control logic, the milestones of the project, and recommendation for further developments.