Coordinated joint motion control system with position error correction

Danko, George

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A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
A43 - footwear
A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
B05 - spraying or atomising in general
B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
B08 - cleaning
B09 - disposal of solid waste
B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
B24 - grinding
B25 - hand tools
B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
B30 - presses
B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
B41 - printing
B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
B64 - aircraft
B65 - conveying
B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
B81 - microstructural technology
B82 - nanotechnology
B99 - subject matter not otherwise provided for in this section
C - chemistry
C01 - inorganic chemistry
C02 - treatment of water, waste water, sewage, or sludge
C03 - glass
C04 - cements
C05 - fertilisers
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C12 - biochemistry
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C14 - skins
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C22 - metallurgy
C23 - coating metallic material
C25 - electrolytic or electrophoretic processes
C30 - crystal growth
C40 - combinatorial technology
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D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
D21 - paper-making
D99 - subject matter not otherwise provided for in this section
E - fixed constructions
E01 - construction of roads, railways, or bridges
E02 - hydraulic engineering
E03 - water supply
E04 - building
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E06 - doors, windows, shutters, or roller blinds in general
E21 - earth drilling
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F - mechanical engineering
F01 - machines or engines in general
F02 - combustion engines
F03 - machines or engines for liquids
F04 - positive - displacement machines for liquids
F05 - indexing schemes relating to engines or pumps in various subclasses of classes f01-f04
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F16 - engineering elements and units
F17 - storing or distributing gases or liquids
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F22 - steam generation
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F27 - furnaces
F28 - heat exchange in general
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F42 - ammunition
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G - physics
G01 - measuring
G02 - optics
G03 - photography
G04 - horology
G05 - controlling
G06 - computing
G07 - checking-devices
G08 - signalling
G09 - education
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G12 - instrument details
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Title: Coordinated joint motion control system with position error correction

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.

Inventors:

Danko, George ^[1]

Reno, NV

Issue Date:: Tue Nov 22 00:00:00 EST 2011

Research Org.:: The Board of Regents of the University and Community College System on Behalf of the University of Nevada (Reno, NV)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1032645

Patent Number(s):: 8065060

Application Number:: 11/333,994

Assignee:: The Board of Regents of the University and Community College System on Behalf of the University of Nevada (Reno, NV)

Patent Classifications (CPCs):: B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS

E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING

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B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J9/1628 - {characterised by the control loop}

E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING
E02F9/2004 - {Control mechanisms, e.g. control levers
E02F9/2029 - {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed

G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
G05B13/021 - {in which a variable is automatically adjusted to optimise the performance}
G05B13/041 - {in which a variable is automatically adjusted to optimise the performance}
G05B2219/40495 - Inverse kinematics model controls trajectory planning and servo system
G05B2219/41273 - Hydraulic
G05B2219/45012 - Excavator

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DOE Contract Number:: FC26-04NT42087

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: 47 OTHER INSTRUMENTATION

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                    Danko, George. Coordinated joint motion control system with position error correction.  United States: N. p., 2011. 
        Web.

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                    Danko, George. Coordinated joint motion control system with position error correction.  United States.

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                    Danko, George. Tue .  
        "Coordinated joint motion control system with position error correction".  United States.  https://www.osti.gov/servlets/purl/1032645.

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@article{osti_1032645,

  title        = {Coordinated joint motion control system with position error correction},

  author       = {Danko, George},

  abstractNote = {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.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {Tue Nov 22 00:00:00 EST 2011},

  month        = {Tue Nov 22 00:00:00 EST 2011}

}

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Works referenced in this record:

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Lu, C. -P.; Hager, G. D.; Mjolsness, E.
IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22, Issue 6
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Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening
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Brooks, Rodney A.
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Phan, Minh Q.; Juang, Jer-Nan; Longman, Richard E.
Structronic Systems: Smart Structures, Devices and Systems
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Marker detection and trajectory generation algorithms for a multicamera based gait analysis system
journal, June 2001

Shafiq, M. Shahid; Tümer, S. Turgut; Güler, H. Cenk
Mechatronics, Vol. 11, Issue 4, p. 409-437
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Identification of system, observer, and controller from closed-loop experimental data
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Juang, Jer-Nan; Phan, Minh
Journal of Guidance, Control, and Dynamics, Vol. 17, Issue 1
https://doi.org/10.2514/3.21163

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Similar Records

Title: Coordinated joint motion control system with position error correction

Abstract

Citation Formats

Fast and globally convergent pose estimation from video images journal, June 2000

System and periodic disturbance identification for feedforward-feedback control of flexible spacecraft conference, February 2013

An Architecture for Autonomy journal, April 1998

Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening journal, April 1995

A Robotic Excavator for Autonomous Truck Loading journal, January 1999

Model-Based Three-Dimensional Interpretations of Two-Dimensional Images journal, March 1983

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

Fast and globally convergent pose estimation from video images
journal, June 2000

System and periodic disturbance identification for feedforward-feedback control of flexible spacecraft
conference, February 2013

An Architecture for Autonomy
journal, April 1998

Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening
journal, April 1995

A Robotic Excavator for Autonomous Truck Loading
journal, January 1999

Model-Based Three-Dimensional Interpretations of Two-Dimensional Images
journal, March 1983

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