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We set a shortcut-to-adiabaticity strategy to design the trolley motion in adouble-pendulum bridge crane. The trajectories found guarantee payloadtransport without residual excitation regardless of the initial conditionswithin the small oscillations regime. The results are compared with exactdynamics to set the working domain of the approach. The method is free frominstabilities due boundary effects or to resonances with the two naturalfrequencies.

Invariant-based inverse engineering for fast and robust load transport in a double pendulum bridge crane