Dynamics and control of 2D SpiderCrane: A controlled Lagrangian approach

In this paper we present control of a multicable suspended mechanism called the ‘2D SpiderCrane’ based on controlled Lagrangian approach. SpiderCrane does not have any conventional heavy mobile components by virtue of which high transfer speeds are achievable. Using the method of controlled Lagrangian a control law is developed based on continuous-time kinetic and potential energy shaping. Simulations are carried out in MATLAB.