Figure 6
The diagram depicts a control system for a robot and a crane, organized into two sections. The top section, labelled "ROBOT," includes elements such as desired position, velocity control, and stiffness. It shows a series of blocks representing processes, with arrows indicating flow from the desired position to the robot's velocity control and then through to the robot admittance transfer function. The lower section, labelled "CRANE," mirrors the robot's structure, featuring a transfer function for crane admittance and additional velocity control pathways. Red arrows link the robot output to the crane input, illustrating the interrelated control processes. Both sections contain critical equations and parameters, providing insight into the system's functionality.Simulation block diagram of the collaborative scheme