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Akademia Morska w Szczecinie

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Author Ziętek, Ryszard
Affiliation West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland
E-mail zr34367@zut.edu.pl
Author Woźniak, Marcin
Affiliation West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland
E-mail marcin.wozniak@zut.edu.pl
ISSN printed 1733-8670
URI http://repository.scientific-journals.eu/handle/123456789/2633
Abstract 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.
Pages 77-83
Publisher Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie
Keywords master-slave control
Keywords field-programmable logic cascade regulation
Keywords mechatronic system
Keywords exoskeleton
Keywords crane
Keywords manipulator kinematics
Title Crane control system using exoskeleton based on programmable logic technology
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ISSN on-line 2392-0378
Language English
Funding No data
Figures 12
Tables 0
DOI 10.17402/442
Published 2020-09-16
Accepted 2020-08-19
Recieved 2020-07-25


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