The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry. but it also results in the complex double pendulum dynamic of the bridge crane. making the anti-swing trajectory planning full of challenges. In this paper. https://www.spidertattooz.com/BON-VIV-Spiked-Seltzer-Grapefruit-6pk-12oz-Can-4-5-ABV/