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Proportional hydraulic control

  • US 5,167,121 A
  • Filed: 06/25/1991
  • Issued: 12/01/1992
  • Est. Priority Date: 06/25/1991
  • Status: Expired due to Fees
First Claim
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1. A hydraulic system for a multi-segmented manipulator arm that comprises a source a hydraulic fluid and a hydraulic circuit means, means for delivering hydraulic fluid under pressure from said source to said hydraulic circuit means, said hydraulic circuit means including an actuator means for each arm segment of said manipulator arm, a valve means for controlling hydraulic fluid under pressure form said source means to each of said actuator means, control means, said control means including means for determining the desired flow to each of said actuator means to obtain a desired movement of said manipulator based on an input command, means for determining the maximum flow available from said source to each said actuator means, means for comparing the desired flow for each actuator means with said maximum available flow to each respective actuator means to define a scale down factor and means for scaling down flows to all of said actuator means in a selected ratio based on the smallest said scale down factor if said desired flow exceed said flow available from said source for at least one of said actuator means so that the said desired flow for any one of said actuator means does not exceed said maximum available flow to said one actuator means from said source.

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