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Coordinated joint motion control system with position error correction

  • US 20070168100A1
  • Filed: 01/18/2006
  • Published: 07/19/2007
  • Est. Priority Date: 01/18/2006
  • Status: Active Grant
First Claim
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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:

  • 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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