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

A method, comprising:

• determining a Cartesian space force or velocity for controlling movement of a suspended load, wherein the suspended load is operable with a plurality of hoists;
• mapping the Cartesian space force or velocity to a plurality of tension forces or torques for the plurality of hoists;
• determining at least one first anti-sway control term based on a first neural network configured to take as input a height of the suspended load from ground and a mass of the suspended load;
• adjusting the Cartesian space force or velocity or the plurality of tension forces or torques based on the at least one first anti-sway control term and at least two velocities associated with the suspended load;
• and
• applying the plurality of tension forces or torques to the plurality of hoists (104) to control the movement of the suspended load.

A non-transitory computer-readable media comprising instructions configured to, when executed, cause an apparatus to:

• determine a Cartesian space force or velocity for controlling movement of a suspended load, wherein the suspended load is operable with a plurality of hoists;
• map the Cartesian space force or velocity to a plurality of tension forces or torques for the plurality of hoists;
• determine at least one first anti-sway control term based on a first neural network configured to take as input a height of the suspended load from ground and a mass of the suspended load;
• adjust the Cartesian space force or velocity or the plurality of tension forces or torques based on the at least one first anti-sway control term and at least two velocities associated with the suspended load;
• and
• apply the plurality of tension forces or torques to the plurality of hoists to control the movement of the suspended load.