Development of force feedback controller for the loader crane
[ 1 ] Instytut Technologii Mechanicznej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | [ P ] pracownik
2018
rozdział w monografii naukowej / referat
angielski
- current value controller
- on–off controller
- haptic joystick
- electrohydraulic manipulator
- loader crane
EN The publication describes development process of the haptic joystick electronic controller design. The system proposed here was used for positioning of an electrohydraulic manipulator (laboratory model of the loader crane). Authors built controller basis on the 32-bits microcontroller type STM32f407 equipped with DMA controller (Direct Memory Access). The joystick prototype was equipped with DC motor and incremental encoder. Authors implemented an on–off current regulator for DC motor. This allows to control motors torque and therefore the force generated at the end of the joystick effector. The actual current value for on–off regulator was taken from the hall effect sensor. The haptic joystick with its controller was tested with use of an electrohydraulic manipulator equipped with proportional valves.
20.10.2017
345 - 354
20
WoS (15)