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Manipulating payloads with rotary cranes is challenging due to the underactuated nature of the system - the number of control inputs/outputs is smaller than the number of degrees of freedom. In this paper, the control outputs (desired load coordinates) are expressed in terms of the system sates and treated as program (servo-) constraints on the system. The problem of control synthesis is then viewed...
Model matematyczny zagadnienia sprowadza się do ukladu rownan rozniczkowo-algebraicznych, rozwiązanie których umożliwiają analizę dynamiczną żurawia realizujacego zadany ruch ładunku oraz syntezę sterowania wymaganego dla realizacji tego ruchu. Ta część pracy skupia się na aspektach symulacji numerycznej dotyczących tego zagadnienia: modelowania trajektorii ładunku, metody rozwiązywania analizowanych...
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