Modelling and control of two co-operating planar cranes

A dynamical model is developed for the closed chain motion of two rotary cranes holding a rigid object in a two-dimensional workspace. The system is treated as a six-bar linkage, and the kinematic and dynamic constraints are determined. These constraints are used to obtain the equations of motion in the system. A proportional, integral, and derivative (PID) controller is designed so that the object is moved from its initial position to the specified destination. Computer simulations of the entire system are performed to illustrate the performance of the designed controller.<<ETX>>