SA-Wrede

Student Research Project about modeling, flatness based control design and simulation of a gantry crane multibody system.

Most Jupyter Notebooks rely on a Fork of https://github.com/TUD-RST/symbtools.

For execution this Fork is assumed to be cloned and checked out on DAE_statefeedback in the same parent directory as this repository.

Relevant Content:

• single_crane_notebooks: ODE and DAE simulation of a single crane gantry system
• double_crane_notebooks: DAE simulation of a double crane gantry system coupled by a common load
• flatness_notebooks: ODE modelling of the double crane gantry system, flatness analysis, trajectory planning and control, simulation