• Determination of constraint forces for an offshore crane on a moving base 

      Cibicik, Andrej; Egeland, Olav (Chapter, 2018)
      In this paper we propose an efficient method for calculating the forces of constraints in an open-chain multibody system, like a robot mounted on a vehicle with 6 degrees of freedom. The dynamical model is based on Kane's ...
    • Determination of reaction forces of a deck crane in wave motion using screw theory 

      Cibicik, Andrej; Tysse, Geir Ole; Egeland, Olav (Journal article; Peer reviewed, 2019)
      In this paper, we present a method for calculating reaction forces for a crane mounted on a ship moving in waves. The method is used to calculate the reaction forces between the crane base and the vessel deck. This includes ...
    • Digital Twin Based Condition Monitoring of a Knuckle Boom Crane: an Experimental Study 

      Moi, Torbjørn; Cibicik, Andrej; Rølvåg, Terje (Peer reviewed; Journal article, 2020)
      This paper presents a novel approach for implementation of a digital twin for condition monitoring of a small-scale knuckle boom crane. The digital twin of the crane is simulated real-time in a nonlinear finite element ...
    • Dynamic modelling and force analysis of a knuckle boom crane using screw theory 

      Cibicik, Andrej; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This article presents a method for determination of dynamic reaction forces in knuckle boom cranes. The method is based on the dynamic modelling procedure, which is an extension of Kane’s equations of motion. An efficient ...
    • Dynamics of luffing motion of a flexible knuckle boom crane actuated by hydraulic cylinders 

      Cibicik, Andrej; Pedersen, Eilif; Egeland, Olav (Journal article; Peer reviewed, 2020)
      In this paper we present a modeling procedure for a flexible knuckle boom crane, which is actuated by hydraulic cylinders and is modeled as a planar multibody system. We propose a convenient framework where both rigid body ...
    • Dynamics of Rigid and Flexible Manipulators Using Screw Theory 

      Cibicik, Andrej (Doctoral theses at NTNU;2020:8, Doctoral thesis, 2020)
      This thesis presents contributions within dynamic modeling of rigid and flexible open-chain holonomic multibody systems, as well as contributions in force analysis of such systems. Although application of the modeling and ...
    • Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws 

      Cibicik, Andrej; Egeland, Olav (Peer reviewed; Journal article, 2020)
      In this article, we present a new procedure for the derivation of the linearized kinematics and dynamics of a flexible industrial robotic manipulator. We introduce the Lie groups of dual rotation and dual homogeneous ...
    • Modeling and Control of a Bifilar Crane Payload 

      Cibicik, Andrej; Myhre, Torstein Anderssen; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents a modeling technique and a controller for an underactuated crane payload. The crane payload is modeled as a bifilar pendulum. The payload is attached to a sheave block, such that a cable can freely run ...
    • Vision-based control of a knuckle boom crane with online cable length estimation 

      Tysse, Geir Ole; Cibicik, Andrej; Egeland, Olav (Peer reviewed; Journal article, 2020)
      A vision-based controller for a knuckle boom crane is presented. The controller is used to control the motion of the crane tip, and at the same time, compensate for payload oscillations. The oscillations of the payload are ...