In this paper, two automatic mini-crane control systems have been compared; utilizing feedback as well as both feedback and feedforward structures. The proposed control systems were implemented in a Master-Slave system to provide intuitive control for a mini-crane by human muscles. The control systems that have been designed were tested on constructions with similar structures i.e. an upper limb exoskeleton and a mini-crane with two joints, but using different actuation systems. The mini-crane had hydraulic actuators, whereas the exoskeleton was equipped with electrical actuators.

In this paper, a mini-crane control system using an exoskeleton based on programmable logic technology is presented. The first stage was to identify the parameters of the mini-crane and exoskeleton sub-assemblies. Then, individual crane and exoskeleton control subsystems were designed based on cascade regulation. The final stage was to connect these subsystems into the master-slave control system using the manipulator’s kinematics equations. Parallel processing was used to minimize delays in the control system. Analysis of the results showed that the difference between the set and measured crane position was small.