Ziętek, Ryszard; Woźniak, Marcin
(Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie,
)
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.