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Title
Bilateral teleoperation system for a mini crane

ISSN printed: 1733-8670, ISSN on-line: 2392-0378
Herbin, Paweł1; Woźniak, Marcin2
URI: https://repository.am.szczecin.pl/handle/123456789/2516
2019-01-16
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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Title

Bilateral teleoperation system for a mini crane

Pages

63-69

Figures

10

Tables

0

ISSN printed

1733-8670

ISSN on-line

2392-0378

DOI

10.17402/327

Type

Journal

57 Scientific Journals of the Maritime University of Szczecin, no. 57 / 2019

Publisher

Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie

Copyright Holder

Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie

Published

2019-01-16

Recieved

2018-12-20

Accepted

2019-03-12

Funding

No data

Keywords

mechatronic system, exoskeleton, human robot interface, machine control, hri, hydraulic crane, feedforward control

URI:

https://repository.am.szczecin.pl/handle/123456789/2516

Language

English

Authors

Herbin, Paweł1; Woźniak, Marcin2

Affiliation

1 West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland, Pawel.Herbin@zut.edu.pl
2 West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland, marcin.wozniak@zut.edu.pl

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