In this paper we present control of a multicable suspended mechanism called the '2D SpiderCrane'based on controlled Lagrangian approach. SpiderCrane does not have any conventional heavy mobile components by virtue of which high transfer speeds are achievable. Using the method of controlled Lagrangian a control law is developed based on continuous-time kinetic and potential energy shaping. Simulations are carried out in MATLAB. ©2010 Crown.

Ramkrishna Pasumarthy

Department of Electrical Engineering

A.K. Kamath

N.M. Singh

F. Kazi

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

Journal	Proceedings of the IEEE Conference on Decision and Control
ISSN	01912216