Publication

Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach

Dominique Bonvin, Philippe Müllhaupt
2009
Conference Papers

Abstract

In this paper we present modeling and control of a multicable suspended mechanism called the ‘2D SpiderCrane’. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. The initial part of the paper addresses the modeling of the mechanism, where the cable and pulley dynamics are separated, and the payload is viewed as a pendulum suspended from a cable whose suspension point lies on a mass that moves in a two-dimensional space. Using the notion of Lie-Bäcklund transformation, the model is transformed to a new set of coordinates in which the system looks linear. A trajectory tracking controller is then proposed.

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https://infoscience.epfl.ch/entities/publication/4e20c3f6-0fd1-449c-a6d8-cb1b9b4a5cbe

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Dominique Bonvin, Philippe Müllhaupt
2009
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/4e20c3f6-0fd1-449c-a6d8-cb1b9b4a5cbe

About this result

Related concepts (20)

Three-dimensional space

In geometry, a three-dimensional space (3D space, 3-space or, rarely, tri-dimensional space) is a mathematical space in which three values (coordinates) are required to determine the position of a point. Most commonly, it is the three-dimensional Euclidean space, the Euclidean n-space of dimension n=3 that models physical space. More general three-dimensional spaces are called 3-manifolds. Technically, a tuple of n numbers can be understood as the Cartesian coordinates of a location in a n-dimensional Euclidean space.

Four-dimensional space

Four-dimensional space (4D) is the mathematical extension of the concept of three-dimensional space (3D). Three-dimensional space is the simplest possible abstraction of the observation that one needs only three numbers, called dimensions, to describe the sizes or locations of objects in the everyday world. For example, the volume of a rectangular box is found by measuring and multiplying its length, width, and height (often labeled x, y, and z).

Pendulum

A pendulum is a weight suspended from a pivot so that it can swing freely. When a pendulum is displaced sideways from its resting, equilibrium position, it is subject to a restoring force due to gravity that will accelerate it back toward the equilibrium position. When released, the restoring force acting on the pendulum's mass causes it to oscillate about the equilibrium position, swinging back and forth. The time for one complete cycle, a left swing and a right swing, is called the period.

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