According to the national defense study-in-advance project named study on shipborne crane control and survey technology , this paper makes a particular study on dynamics and Trajectory Planning of the shipborne crane.The carrier crane studied in this paper is a kind of missile loading equipment. It is a folding manipulator and can be folded in a cabin under board, when working, it is raised onto board and locked to work. Installing the structure characteristic of playing the machine according to the carrie...