- Tytuł:
- Crane control system using exoskeleton based on programmable logic technology
- Autorzy:
-
Ziętek, Ryszard
Woźniak, Marcin - Powiązania:
- https://bibliotekanauki.pl/articles/1819213.pdf
- Data publikacji:
- 2020
- Wydawca:
- Akademia Morska w Szczecinie. Wydawnictwo AMSz
- Tematy:
-
master-slave control
field-programmable logic cascade regulation
mechatronic system
exoskeleton
crane
manipulator kinematics - Opis:
- 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.
- Źródło:
-
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2020, 63 (135); 77-83
1733-8670
2392-0378 - Pojawia się w:
- Zeszyty Naukowe Akademii Morskiej w Szczecinie
- Dostawca treści:
- Biblioteka Nauki
Artykuł