Figure 1
The image contains two diagrams illustrating a robotic arm and crane system. The left diagram labeled (a) shows an articulated robotic arm in orange with joints and a payload suspended from a crane above. The axes are indicated as x, y, and z, with the robot's base represented by G. The right diagram labeled (b) provides a detailed view of the forces acting on the payload, with vectors marked as F_T, F_r, and F_g, indicating tension, rope force, and gravitational force, respectively. Additionally, the length L of the rope and parameters such as R and k_rope are shown, along with angles ? and other variables, all arranged to convey physical relationships in the system's dynamics. The layout includes vertical and horizontal lines with labeled components that visually demonstrate the mechanics involved.(a) Sketch of robot-crane collaborative task; (b) pendulum model and contact forces