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Controlling the upper limb with force feedback requires the continuous measurement of multiple values, so it is necessary to use a specific measuring system. The position of the joints and the torque produced by the drives are the basic feedbacks necessary for control. Measurement of the joint positions does not cause complications, while measurement of the driving torque is much more complex. This...
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...
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...
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