Dynamics and Control of 2D SpiderCrane: A RHC Approach
نویسندگان
چکیده
In this paper we present modeling and control of a multicable suspended mechanism called the ‘2D SpiderCrane’. A spidercrane does not have any conventional heavy components and makes use of cables by virtue of which high transfer speeds are achievable. 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 Receding Horizon Control (RHC) strategy a trajectory tracking controller is proposed.Simulations were carried out in MATLAB.
منابع مشابه
Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-Based Control
∗ Indian Institute of Technology Bombay, Mumbai, India (e-mail: [email protected]). ∗∗ Indian Institute of Technology Bombay, Mumbai, India (e-mail: [email protected]). ∗∗∗ Ecole Polytechnique Federale de Lausanne, CH-1015 Lausanne, Switzerland, (e-mail: [email protected]) ∗∗∗∗ Ecole Polytechnique Federale de Lausanne, CH-1015 Lausanne, Switzerland, (e-mail: dominique.bonvin...
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