SUMMARY

Cranes are widely utilized in industries such as ship assembling, building construction, wood cutting, metal processing etc. In those industries, cranes are often tasked with the lift-up and transportation of heavy longitudinal payloads. To safely and effectively transport the payloads, it is necessary to ensure the payload is under low oscillation. Swinging heavy payload can pose danger to the operators, the factory environment, and to the crane itself. However, cranes are under-actuated and under-damped systems that have little control over the payload swing angle. Waiting for payload oscillation to damp out undermines the operation efficiency.

This thesis researches on automating the process of longitudinal payload lift-up using bridge crane, with the goal of preparing a lifted and stabilized longitudinal payload within short time for further transportation to take place.