Dynamic Modeling of a Gantry Crane System
Abstract
Based on Lagrange equations,a dynamic model is derived for typical underactuated mechanical gantry crane system.The dynamic model considers the simultaneous traveling,traversing,and hoisting motions of the crane,and the resulting payload swing;and the swing angle of the payload in space is described by specially defined two-degree-of-freedom angle.Thanks to the characteristics of the proposed swing angle description,the dynamic model for the...
Paper Details
Title
Dynamic Modeling of a Gantry Crane System
Published Date
Jan 1, 2006
Journal
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