Modelling, Flatness and Simulation of a Class of Cranes
Abstract
A unified framework for the modelling of a class of cranes is presented. The dynamic equations are obtained using Lagrange multipliers associated to geometric constraints between generalized coordinates. This approach provides a simple way to show differential flatness for all cranes of the class and to generate a compact numerical simulation software. Examples illustrate the approach.
Keywords:
crane modelling, flatness, underactuated, mechanical systems, constrained Lagrangian systemsHow to Cite
Kiss, B., Lévine, J., Müllhaupt, P. “Modelling, Flatness and Simulation of a Class of Cranes”, Periodica Polytechnica Electrical Engineering, 43(3), pp. 215–225, 1999.
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