Study on kinematic modeling of shipborne crane under ship's movement

For the inchoate study on the carrier crane, the characteristics of it are not well known. Especially, its characteristics when the ship is rolling have not been studied yet. Using the modeling methods of usual manipulators and based on the kinematics in a non-inertial frame, this paper builds a kinematic model of the carrier crane, which not only can describe the influence of the ship's yaw but also give the movements with big angles of the crane's end-wire rope-loads. The model provides the essential mathematic model for the kinematic study of the carrier crane. What's more, a group of simulation curves is been put up with, which improve the effective of the modeling method and the correct of the model.