| 摘要 |
PROBLEM TO BE SOLVED: To rapidly stop a suspended load still at a target position, so that it does not run out without a specialist. SOLUTION: A boom 5 is slewed under a condition that the slewing angle and speed of a boom 5 is controlled, so that the slewing angleθRES a run-out angleϕ, and a run-out speed v are respectively controlled to be within the allowable error, on the basis of the suspending length of a wire 4, the slewing angleθRES from the current position of the boom 5 to the target position E, the run-out angleϕof the pendulum motion of a basket 3 as the suspended load when the boom 5 is located at the current position, and the run-out speed v, to stop the basket 3 still at the target position E.
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