Abstract
The paper presents the results of two different control systems for controlling a loader crane in the Master - Slave configuration: 1st configuration is feedforward and feedback, 2nd configuration is feedback. The control object is an upper limb exoskeleton, which is controlled by human muscles by the contact force, which is measured on tensometric beam. The implemented control systems were tested on an object, which contains the upper limb and a prototype of a loader crane, showing the greater efficiency of one control system.
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Woźniak, M., Herbin, P., Parus, A. (2020). Teleoperation Control System for Controlling Prototype of a Loader Crane. In: Majewski, M., Kacalak, W. (eds) Innovations Induced by Research in Technical Systems. IIRTS 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-37566-9_16
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DOI: https://doi.org/10.1007/978-3-030-37566-9_16
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