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  • Herbin, Paweł; Woźniak, Marcin (Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie, )
    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.

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