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Author Herbin, Paweł
Affiliation West Pomeranian University of Technology 17 Piastów Ave., 70-310 Szczecin, Poland
E-mail Pawel.Herbin@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 https://repository.scientific-journals.eu/handle/123456789/2516
Abstract 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.
Pages 63-69
Publisher Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie
Keywords mechatronic system
Keywords exoskeleton
Keywords human robot interface
Keywords machine control
Keywords hri
Keywords hydraulic crane
Keywords feedforward control
Title Bilateral teleoperation system for a mini crane
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ISSN on-line 2392-0378
Language English
Funding No data
Figures 10
Tables 0
DOI 10.17402/327
Published 2019-01-16
Accepted 2019-03-12
Recieved 2018-12-20

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