Figure 8
The image presents three graphs arranged vertically. The top graph titled "Velocity Reference and Robot Velocity" shows the robot's reference velocity, \(v_{ref}\), and actual velocity, \(v_{x}\), over time in seconds, with the y-axis labeled in meters per second. The middle graph titled "Interaction Force F" illustrates the interaction force, \(F\), measured in Newtons, also plotted against time. The bottom graph, titled "Crane Velocity Command and Crane Velocity," depicts the commanded crane velocity, \(v_{c}\), and actual crane velocity, \(v_{ac}\), over the same time interval, with axes labeled appropriately. Each graph includes legends denoting the represented velocities and forces, facilitating a clear understanding of the data presented.Simulation of the collaborative scheme with a maximum velocity 0.1 [m/s], and
Note(s): Top: Robot velocity reference vxd and robot velocity vxr. Middle:contact force F. Bottom: crane velocity command vac andcrane velocity vc