SpiderCrane: Model and Properties of a Fast Weight-Handling Equipment

A new crane design, labeled "SpiderCrane", is proposed to handle fast load displacements. Its main particularity is the absence of heavy mobile components. The system beeing underactuated, its control is challenging. Hence, as a step towards easier and more efficient control, this paper proposes a dynamic model and investigates the two control-relevant properties of flatness and observability. SpiderCrane is shown to be flat with respect to certain outputs and observable from the motors positions.

Published in:
Proceedings of 16th IFAC World Congress, Prague
Presented at:
16th IFAC World Congress, Prague, July 4-8, 2005

Note: The status of this file is: EPFL only
The status of this file is: Involved Laboratories Only

 Record created 2004-11-26, last modified 2018-01-27

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