# Cart plus crane plus hammer

## Model description:

The Euler-Lagrange equations of motion of the system are given as follows

$$\begin{pmatrix} (M+m) & mL\cos{q_1} & 0\\ mL\cos{q_1} & mL^2+\Theta & \dfrac{\Theta}{2}\\ 0 & \dfrac{\Theta}{2} & \Theta \end{pmatrix} \begin{pmatrix} \ddot{x}\\ \ddot{q_1}\\ \ddot{q_2} \end{pmatrix} + \begin{pmatrix} -mL\sin{q_1\dot{q_1}^2}\\ -mLg_g\sin{q_1}\\ 0 \end{pmatrix} = \begin{pmatrix} Q_x\\ Q_1\\ Q_2 \end{pmatrix},$$

where $Q_x (N)$ is the generalized force pushing the cart in the horizontal “$x$” direction, $Q_1$ and $Q_2$ are torques in $(N · m)$ rotating the beam of the crane around a horizontal axis orthogonal to “$x$” and counter-rotating the hamper at the free end of the beam to avoid turning out the worker from the hamper. $L (m)$ denotes the lenght of the crane’s beam, $g_g$ ($m/s^2$) is the gravitational acceleration, $m$ ($kg$) and $\Theta$ $(kg · m^2)$ denote the momentum (with respect to its own center of mass that was supposed to be on the rotational axle) and the mass of the hamper.

## Publication details:

 Title Analysis of the Fixed Point Transformation Based Adapive Robot Control Publication Type Conference Paper Authors Tar, J.K., and Rudas I.J.