Crane control system using exoskeleton based on programmable logic technology

• Autorzy: Ziętek Ryszard , Woźniak Marcin

Identyfikatory

DOI

10.17402/442

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

master-slave control; field-programmable logic cascade regulation; mechatronic system; exoskeleton; crane; manipulator kinematics

• Wydawca: Wydawnictwo Naukowe Akademii Morskiej w Szczecinie
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Szczecinie
• Rocznik: 2020
• Tom: nr 63 (135)
• Strony: 77--83
• Opis fizyczny: Bibliogr. 18 poz., rys.

Twórcy

autor

Ziętek Ryszard

• 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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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).