Bilateral teleoperation system for a mini crane

• Autorzy: Herbin Paweł , Woźniak Marcin

Identyfikatory

DOI

10.17402/327

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

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

• Wydawca: Wydawnictwo Naukowe Akademii Morskiej w Szczecinie
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Szczecinie
• Rocznik: 2019
• Tom: nr 57 (129)
• Strony: 63--69
• Opis fizyczny: Bibliogr. 12 poz., rys.

Twórcy

autor

Herbin Paweł

• West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland

autor

Woźniak Marcin

• West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland

Bibliografia

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• 5. Majewski, M. & Kacalak, W. (2016) Human-machine speech-based interfaces with augmented reality and interactive systems for controlling mobile cranes. In: International Conference on Interactive Collaborative Robotics, Springer, Cham, p. 89–98.
• 6. Miądlicki, K. & Pajor, M. (2015) Overview of user interfaces used in load lifting devices. International Journal of Scientific & Engineering Research 6, 9, pp. 1215–1220.
• 7. Miądlicki, K. & Pajor, M. (2015) Real-time gesture control of a CNC machine tool with the use Microsoft Kinect sensor. International Journal of Scientific & Engineering Research 6, 9, pp. 538–543.
• 8. Miądlicki, K., Pajor, M. & Saków, M. (2017) Loader Crane Working Area Monitoring System Based on LIDAR Scanner. Advanced in Manufacturing, pp. 465–474.
• 9. Morales, O.D. & Hera, P.M. (2012) Modeling dynamics of an electro–hydraulic servo actuated manipulator: A case study of a forestry forwarded crane. IEEE: World Automation Congress.
• 10. Pajor, M., Marchelek, K. & Powalka, B. (1999) Experimental verification of method of machine tool-cutting process system model reduction in face milling. WIT Transactions on Modelling and Simulation 22.
• 11. Saków, M. & Parus, A. (2016) Sensorless control scheme for teleoperation with force-feedback, based on a hydraulic servo-mechanism, theory and experiment. Measurement Automation Monitoring 62.
• 12. Wittbrodt, E., Adamiec-Wójcik, I. & Wojciech, S. (2007) Dynamics of flexible multibody systems: rigid finite element method. Springer Science & Business Media.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).