Figure 13
The image contains three rows and three columns of graphs. The top row displays robot velocities, the middle row shows interaction forces, and the bottom row features crane velocities, each plotted against time in seconds. Each graph includes a key feature indicating the plotted variables, such as velocity for robots and crane alongside interaction force values. The graphs illustrate fluctuations over a time span of zero to twenty seconds, capturing various dynamics across different experimental conditions. The axes consistently represent time in seconds on the horizontal axis and respective variables'velocity in meters per second or force in Newtons'on the vertical axes.Robot velocity reference , Force F, and crane velocity command and crane velocity from experimental results
Note(s): Plots a1-a3, b1-b3 and c1-c3 correspond to the velocity commands 0.15, 0.09 and 0.045 m/s, respectively