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Crane control system using exoskeleton based on programmable logic technology

Ziętek Ryszard, Woźniak Marcin

Zeszyty Naukowe Akademii Morskiej w Szczecinie

2020

nr 63 (135)

77-83

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.