A new configuration of a planar crane is proposed. Instead of a single cable, it is introduced a second hoisting cable increasing the actuation over the load and the capability to reduce oscillations. A suitable choice of coordinates will lead to a simple linearized system where the controllability of the system is easily verified. A standard LQR control was used to show some interesting dynamical behaviour; simulations and experimentation validate the new proposed configuration.
['Irandi Gutierrez', 'Joaquin Collado']
Control of a novel two wired crane