Crane anti-sway

A step against two half-steps T/2 apart, for any rope length, with the shaper tuned or not (Lab IV).

Try it: anti-sway by input shaping (Lab IV)

Rope length L4.0 m

Shaper tuned for L =4.0 m

Retune the shaper to the rope length (measured L)

The trolley stops accelerating at 4.01 s and then runs at 0.5 m/s.

θ″ + (g/L) θ = −a(t)/L ; T = 2π √(L/g)