Dynamic flex compensation, coordinated hoist control, and anti-sway control for load handling machines

A method, comprising:

• measuring, by an exteroceptive observation system coupled to a floating base, a position or velocity of at least one target with respect to a reference coordinate frame stationary with respect to the floating base;
• measuring, by an inertial measurement unit, at least one inertial state of the floating base with respect to an inertial reference coordinate frame;
• and
• performing position or velocity compensation for the at least one target based on statistical inference on the measured position or velocity of the at least one target and the at least one inertial state of the floating base.

An apparatus, comprising:

• a plurality of hoists for operating a suspended load, the apparatus configured to:
• determine a Cartesian space force or velocity for controlling movement of the suspended load;
• map the Cartesian space force or velocity to a plurality of tension forces or torques for the plurality of hoists based on a multivariable mapping function;
• adjust the plurality of tension forces or torques with at least one neutral element of the multivariate mapping function such that each of the plurality of tension forces or torques is above or equal to a threshold, wherein the adjustment of the at least one neutral element does not change the mapping of the Cartesian space force or velocity to the plurality of tension forces or torques.