Large payloads hoisted by overhead cranes exhibit the same behavior as that of a double-pendulum. Changes in the hoisting cable length during payload transfer maneuvers give rise to time-dependent system frequencies rendering input-shaped commands ineffective. In this paper. a frequency-modulation input-shaping strategy that enables simultaneous hoist and travel maneuvers using single... https://parisnaturalfoodes.shop/product-category/ult-digest-enz-immediate/