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.
Flatness and defect of non-linear systems: introductory theory and examples,
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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.