PIVOTING DEVICE

[Problem] To provide a pivoting device that can control swinging of a suspended load and can reduce the pivot time. [Solution] A pivoting device implements: an acquisition process to acquire a pivot start position, a pivot end position, and a pendulum length; a pivoting angular velocity pattern determination process to determine, by way of optimal control, a pivoting angular velocity pattern in a first interval to reach a pivoting angular velocity É by accelerating, decelerating, and accelerating from the pivot start position and in a second interval to stop at the pivot end position by decelerating, accelerating, and decelerating from the pivoting angular velocity É; and an actuator control process to cause a pivot actuator to pivot the pivoting body so that the distal end of a boom moves in the pivot direction at a speed indicated by the pivoting angular velocity pattern. In addition, during the pivoting angular velocity determination process, the pivoting device determines a pivoting angular velocity pattern for which the difference between the local maximum angular velocity and the local minimum angular velocity is larger for shorter control times T during the first interval and the second interval with control times T shorter than the cycle determined by the pendulum length of the suspended load to be moved as a pendulum.