Dynamics Analysis of Underactuated Cherrypicker Systems with Friction

  • Yiming Wu
  • Yifa Liu
  • Ning Sun
  • Yongchun Fang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10639)


The cherrypicker system has long mechanical arms and an unactuated bucket, which helps raise up workers to implement difficult aerial works on high up towers, power lines, and buildings. However, due to the gravity and inertia, the bucket has residual vibration which brings safety concerns. In order to design controllers to suppress the oscillation, this paper first provides a dynamic model of a two-armed cherrypicker system with friction by using Lagrange’s modeling method and also derives the matrix form dynamic equation. Numerical simulation results verify the feasibility of the model.


Underactuated system Cherrypicker Lagrange’s dynamics System modeling 



This work is supported by the National Natural Science Foundation of China under Grant 61503200, the Natural Science Foundation of Tianjin under Grant 15JCQNJC03800, and the China Postdoctoral Science Foundation under Grant 2016M600186 and under Grant 2017T100153.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Yiming Wu
    • 1
    • 2
  • Yifa Liu
    • 1
    • 2
  • Ning Sun
    • 1
    • 2
  • Yongchun Fang
    • 1
    • 2
  1. 1.Institute of Robotics and Automatic Information System (IRAIS), College of Computer and Control EngineeringNankai UniversityTianjinChina
  2. 2.Tianjin Key Laboratory of Intelligent Robotics (tjKLIR)Nankai UniversityTianjinChina

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