期刊名称：Scientific Journals of the Maritime University of Szczecin
印刷版ISSN：1733-8670
电子版ISSN：2392-0378
出版年度：2019
卷号：57
页码：63-69
DOI：10.17402/327
语种：English
出版社：MUS
摘要：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.
其他摘要：Характерной особенностью настоящего периода развития картографии яв– ляется принципиальное изменение ее роли и функции в экономике и жизнедеятельности со– временного общества,что вызвано революционными изменениями в области информатиза– ции [Лисицкий,2015;Дышлюк,2015]..
关键词：human robot interface;machine control;mechatronic system;exoskeleton;hri;hydraulic crane;feedforward control
