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Modeling and Observer-Based Control of a Planar Two-Cable Crane Manipulator

: Hildebrandt, E.; Handreg, T.; Dryba, S.; Froitzheim, P.; Flügge, W.; Woernle, C.


Gouttefarde, M.:
Cable-Driven Parallel Robots : Proceedings of the 5th International Conference on Cable-Driven Parallel Robots (CableCon 2021), held as virtual event, July 7-9, 2021
Cham: Springer Nature, 2021 (Mechanisms and Machine Science 104)
ISBN: 978-3-030-75788-5 (Print)
ISBN: 978-3-030-75789-2 (Online)
International Conference on Cable-Driven Parallel Robots (CableCon) <5, 2021, Online>
Fraunhofer IGP ()

Two-cable crane manipulators move heavy payloads through large workspaces with computer-controlled winches mounted on trolleys. To make the payload track prescribed translational and rotational trajectories, a control method is presented based on a mechanical model. A nonlinear feedforward control that exploits the flatness property of the system model provides the control inputs for the undisturbed motion along reference trajectories. Trajectory deviations and sway motions are stabilised by a superimposed feedback controller. A nonlinear observer for the estimation of nonmeasurable states completes the control concept.