Coordinated joint motion control system with position error correction
First Claim
1. An articulated hydraulic machine supporting an end effector for performing useful work, the articulated hydraulic machine comprising a control system capable of controlling the end effector for automated movement along a preselected trajectory wherein the control system comprises the generation of reference positions for each of multiple controlled movable machine elements according to a software-defined differential kinematics configuration, and applies a position error correction system to correct discrepancies between the actual and the desired machine element trajectories and wherein the error correction module:
- a) compares the actual end effector position at a given point in time with a reference position appropriate for the desired end effector trajectory;
b) generates a difference between the actual end effector position and the reference position; and
c) applies a correction signal to the machine to reduce the difference.
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Accused Products
Abstract
Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator'"'"'s task and enhance their work quality and productivity.
151 Citations
19 Claims
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1. An articulated hydraulic machine supporting an end effector for performing useful work, the articulated hydraulic machine comprising a control system capable of controlling the end effector for automated movement along a preselected trajectory wherein the control system comprises the generation of reference positions for each of multiple controlled movable machine elements according to a software-defined differential kinematics configuration, and applies a position error correction system to correct discrepancies between the actual and the desired machine element trajectories and wherein the error correction module:
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a) compares the actual end effector position at a given point in time with a reference position appropriate for the desired end effector trajectory;
b) generates a difference between the actual end effector position and the reference position; and
c) applies a correction signal to the machine to reduce the difference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification