Modeling and control of a rotary crane for swing-free transport of payloads

The kinematic and dynamic modeling of a rotary crane are presented in detail. The derived dynamical model consists of a set of two coupled equations. The well-known controller designs commonly used for rigid robots, such as the computed torque method and nonlinear state feedback linearization, are not readily applicable. To overcome these difficulties, a control scheme that consists of two parts is proposed. The first part is a controller that regulates the motor torques in order to make the joints of the crane follow the specified trajectories. The second part is a feedback control law designed so as to prevent the load from swinging. Simulation results are presented to demonstrate the approach