Differential flatness enables optimal trajectory generation for 3D overhead cranes that incorporates nonlinear friction and collision avoidance while constraining payload swing only at the endpoint.
An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles,
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Flatness-based trajectory planning for 3D overhead cranes with friction compensation and collision avoidance
Differential flatness enables optimal trajectory generation for 3D overhead cranes that incorporates nonlinear friction and collision avoidance while constraining payload swing only at the endpoint.