Vibration control of 3D gantry crane with precise positioning in two dimensions

Vibrations are a common thing in flexible mechanical systems like robotic arm, gantry and tower crane system. A lot of researches are being carried out for reducing these mechanical vibrations. Input shaping is one of the most successful methods among them. The modelling of gantry crane in 3 dimension using Euler-Lagrange approach is done first. Input shaping using system inversion method is done to control the vibration and for precise positioning of the above derived system in 3 dimensions. It can done by specifying the required output function with required velocity and acceleration profile and designing an input function to achieve it. A third order exponential function is used here. Then the performance is compared with some other exponential functions. Simulations are done on MATLAB. The position and swing angle of gantry crane are simulated and plotted.