A Physics Based Simulation for Crane Manipulation and Cooperation

This paper describes an approach to construct a numerical crane model in a computer-generated virtual world. A dual-crane scenario was used to demonstrate. The numerical crane model is divided into two sub-models: a manipulation model and a suspension model. The manipulation model is used to describe the relationship between the crane operations (the movement of each part of the crane) and crane status (the position and orientation of the crane). The suspension model includes the crane cables and rigging object. It can be used to analyze the dynamic behavior of the suspended object caused by the inertial forces during crane operation. To demonstrate the use of the sub-models, a prototype simulation system has been developed. The results show that the prototype system can sufficiently provide visualization details for simulating crane manipulation and cooperation.