- Tytuł:
- Bilateral teleoperation system for a mini crane
- Autorzy:
-
Herbin, Paweł
Woźniak, Marcin - Powiązania:
- https://bibliotekanauki.pl/articles/135104.pdf
- Data publikacji:
- 2019
- Wydawca:
- Akademia Morska w Szczecinie. Wydawnictwo AMSz
- Tematy:
-
human robot interface
machine control
mechatronic system
exoskeleton
hri
hydraulic crane
feedforward control - Opis:
- 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.
- Źródło:
-
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2019, 57 (129); 63-69
1733-8670
2392-0378 - Pojawia się w:
- Zeszyty Naukowe Akademii Morskiej w Szczecinie
- Dostawca treści:
- Biblioteka Nauki