Teleoperation Control System for Controlling Prototype of a Loader Crane

Woźniak, Marcin; Herbin, Paweł; Parus, Arkadiusz

doi:10.1007/978-3-030-37566-9_16

Cited by 1 publication

(1 citation statement)

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“…The group of “wearable” devices includes mainly exoskeletons. One should bear in mind that exoskeletons were originally mainly used in industry and are still used in innovative industrial applications [ 3 ]. Since that time, continuous research on the development of exoskeletons has been conducted and the market offers devices driven by electric [ 4 ], hydraulic [ 5 ] and pneumatic drive systems [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Control System Design of an Underactuated Dynamic Body Weight Support System Using Its Stability

Gembalczyk

Gierlak

Duda

2021

Sensors

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This paper discusses the stability of systems controlling patient body weight support systems which are used in gait re-education. These devices belong to the class of underactuated mechanical systems. This is due to the application of elastic shock-absorbing connections between the active part of the system and the passive part which impacts the patient. The model takes into account properties of the system, such as inertia, attenuation and susceptibility to the elements. Stability is an essential property of the system due to human–device interaction. In order to demonstrate stability, Lyapunov’s theory of stability, which is based on the model of system dynamics, was applied. The stability of the control system based on a model that requires knowledge of the structure and parameters of the equations of motion was demonstrated. Due to inaccuracies in the modeling of the rope (one of the basic elements of the device), an adaptive control system was introduced and its stability was also proved. The authors conducted simulation and experimental tests that illustrate the functionality of the analyzed control systems.

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