Figure 12
This flow diagram depicts a robotic control system highlighting the interaction between various components. At the top, there are blocks labeled KUKA KRC', 'PLC Interface' and 'Robot Quantec'. In the center, a robotic arm labeled 'Robot iiwa' is shown alongside a flow indicating the desired position, represented as xd. Arrows connect these elements, illustrating data flow. A feedback loop is also indicated with blocks for desired position, control signals 'vxd, and 'var, leading to robotic admittance calculations represented by the equation s/(Ms squared + Bs + K). The right side features components for crane admittance with more mathematical representations, forming part of a larger Simulink model. The annotations include crucial terms and formulas associated with robotic motion control. The layout organizes key elements clearly, facilitating understanding of system interactions.Implementation of the proposed scheme on the experimental setup