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arXiv · 2509.13330

A hybrid dynamic model and parameter estimation method for accurately simulating overhead cranes with friction

Jorge Vicente-Martinez·Edgar Ramirez-Laboreo
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Abstract

This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a significant challenge. Traditional methods often rely on imprecise approximations of friction or require excessive computational times for reliable results. To address this, we present a hybrid dynamical model that features a trade-off between high-fidelity friction modeling and computational efficiency. Furthermore, we present a step-by-step algorithm for the comprehensive estimation of all unknown system parameters, including friction. This methodology is based on Bayesian Linear Regression and Least Squares (LS) estimations. Finally, experimental validation with a laboratory crane confirms the effectiveness of the proposed modeling and estimation approach.

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BibTeXRIS

Jorge Vicente-Martinez, Edgar Ramirez-Laboreo. 2025-09-08. A hybrid dynamic model and parameter estimation method for accurately simulating overhead cranes with friction. https://arxiv.org/abs/2509.13330

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