Fig. 1. Heavy-liftmanipulationequipmenton the lunar surface^［9］

Fig. 2. Combined system of crane end and payload

Fig. 3. Schematic diagram of the experimental equipment

Fig. 4. Time-domain and frequency-domain curves of the free vibration response

Fig. 5. Route design of the robot arm

Fig. 6. Control block diagram of the Simulink

Fig. 7. Time-lapse photography after the robot arm reached the end position

Fig. 8. Force signals during and after the movement of the robot arm

Fig. 9. Simulink block diagram of the swing-suppression simulation system

Fig. 10. Lateral forcesatthe suspension point measured with different model parameters

Fig. 11. Lateral force at the suspension point under external interference