Dynamics and control of 2D SpiderCrane: A controlled Lagrangian approach

In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane' based on controlled Lagrangian approach. SpiderCrane does not have any conventional heavy mobile components by virtue of which high transfer speeds are achievable. Using the method of controlled Lag...

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Bibliographic Details
Published in49th IEEE Conference on Decision and Control (CDC) pp. 3596 - 3601
Main Authors Kamath, A K, Singh, N M, Kazi, F, Pasumarthy, R
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Cranes
Equations
Kinetic energy
Measurement
Mechanical cables
Potential energy
Shape
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Summary:In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane' based on controlled Lagrangian approach. SpiderCrane does not have any conventional heavy mobile components by virtue of which high transfer speeds are achievable. Using the method of controlled Lagrangian a control law is developed based on continuous-time kinetic and potential energy shaping. Simulations are carried out in MATLAB.
ISBN:142447745X
9781424477456
ISSN:0191-2216
DOI:10.1109/CDC.2010.5717436