FIELD: machine building.
SUBSTANCE: control device comprises actuators (27–29) to control hose movement in space from storage position until connection system is located before pipe for connection with latter and from pipe to storage position, and calculation means (41), configured to: - tracking the movement of the system in real time; - generation of trajectory of system movement in direction of pipe or in storage position in real time proceeding from last determined position of system based on motion profile with limitation of jerks; - calculation of control commands used for each of actuators to control movement of system based on said movement profile.
EFFECT: invention discloses a movement control device for a hinged loading hose for a fluid medium, a method of collecting and calculating data and a device for carrying out such a method, as well as a hingedly connected loading hose for fluid medium.
17 cl, 2 dwg
