Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund approach

In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane´. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. Using the notion of Lie-Bäcklund transformation, the model is transformed to a new set of coordinates in which the system looks linear. We then solve the closed-loop stabilization and trajectory tracking problem with a simple, but very natural, pole placement strategy.