Figure 10
The image contains six graphs, arranged in two columns and three rows. In the top left corner (graph a), the title is "Robot Velocities," depicting two velocity curves labeled as v_zd and v_r. The x-axis represents time in seconds, ranging from zero to twenty seconds, while the y-axis indicates velocities in metres per second. The top right corner (graph d) mirrors graph a, displaying similar curves with the same labels. The second row features graph b, titled "Interaction Force," showing a curve representing force (F in Newtons) across the same time range. The second graph in this row (graph e) reflects a similar force curve with a different shape. The bottom row includes graph c, titled "Crane Velocities," providing two velocity curves labeled as v_ac and v_c along the same axes. The final graph (f) replicates the same layout as graph c, featuring similar curves. All graphs include legends in boxes that clarify the lines presented.Simulation of the collaborative scheme and velocity control with a maximum velocity 0.1 [m/s], and