– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method has been experimentally tested on a laboratory robot manipulator "TQ – MA3000", which is neither a path controlled robot nor features the path defining ability. The results indicate a reduction in the amplitude of oscillation of the suspended object to about 1.5 to 3 percent of the initial values.

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