Modelling, Flatness and Simulation of a Class of Cranes

Authors

  • Bálint Kiss
  • Jean Lévine
  • Philippe Müllhaupt

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 systems

How 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.

Issue

Vol. 43 No. 3 (1999)

Section

Articles