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Bilateral teleoperation system for a mini crane

Herbin Paweł, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

2019

nr 57 (129)

63--69

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.