Dynamic Modeling for 3-Dimensional Cooperative Dual Boom Cranes: Analysis and Verification

To expand the current limited research of three-dimensional (3D) cooperative dual boom cranes (CDBCs), this paper proposes a dynamic model of CDBCs in 3D space for the first time, which provides a foundation for precise motion control. Based on geometric constraint analysis and the Lagrangian modeling method, the proposed model accurately describes the dynamic characteristics of practical systems. Moreover, coordinated boom motion trajectories are designed for preliminary control realization of 3D CDBCs, which facilitates engineering applications. Finally, simulations and hardware experiments are implemented under different working conditions, which verifies the effectiveness of the proposed model and trajectories.