Methods and apparatus for manipulation of heavy payloads with intelligent assist devices

An intelligent assist method comprising:

• receiving an input assist request signal at a controller;
• measuring a cable angle;
• determining an initial heading based on the cable angle;
• determining a velocity command value for at least one motorized trolley, wherein the velocity command value is based on the cable angle;
• adjusting the velocity command value based on the input assist request signal, the input assist request signal being different than and independent of the cable angle measurement;
• deriving an updated heading based on the velocity command value;
• and
• outputting the velocity command value to the at least one motorized trolley.

An intelligent assist method comprising:

• inputting a signal to generate motorized power to move a suspended object in accordance with a predetermined trajectory, wherein the predetermined trajectory is based upon the initial position of the suspended object and a predetermined target position;
• imparting a manual force to the suspended object to change the trajectory;
• sensing an angle at which the suspended object is manually forced;
• and
• changing the direction at which the motorized power moves the suspended object based upon the sensing.