DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

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:
 [1]
  1. Reno, NV
Issue Date:
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):
E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
DOE Contract Number:  
FC26-04NT42087
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
47 OTHER INSTRUMENTATION

Citation Formats

Danko, George. Coordinated joint motion control system with position error correction. United States: N. p., 2011. Web.
Danko, George. Coordinated joint motion control system with position error correction. United States.
Danko, George. Tue . "Coordinated joint motion control system with position error correction". United States. https://www.osti.gov/servlets/purl/1032645.
@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 = {2011},
month = {11}
}

Works referenced in this record:

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


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


A New Approach to Linear Filtering and Prediction Problems
journal, March 1960


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