Figure 2
This diagram represents a control system for a robotic arm and a crane. It includes labeled components such as desired position, a robot with the payload, and transfer functions for both the robot admittance and the crane admittance. The flow starts with the desired position, which is input into the system, leading to the robot's admittance transfer function. This is denoted by the formula involving mass, damping, and stiffness parameters. An associated variable and force are indicated, with the crane detailed on the right side, showing its own transfer function and the resulting output for crane movement. The robot and crane connections are visually represented with arrows, demonstrating feedback and operational parameters within the system.Block diagram of the collaborative scheme