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Title: Coordinated joint motion control system with position error correction

Patent ·
OSTI ID:1032645
 [1]
  1. Reno, NV
+ Show Author Affiliations

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.

Research Organization:
The Board of Regents of the University and Community College System on Behalf of the University of Nevada (Reno, NV)
Sponsoring Organization:
USDOE
DOE Contract Number:
FC26-04NT42087
Assignee:
The Board of Regents of the University and Community College System on Behalf of the University of Nevada (Reno, NV)
Patent Number(s):
8,065,060
Application Number:
11/333,994
OSTI ID:
1032645
Country of Publication:
United States
Language:
English

References (10)

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A New Approach to Linear Filtering and Prediction Problems journal March 1960
Markov Parameters in System Identification: Old and New Concepts book April 1998
Marker detection and trajectory generation algorithms for a multicamera based gait analysis system journal June 2001
Identification of system, observer, and controller from closed-loop experimental data journal January 1994

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