Coordinated joint motion control system with position error correction

Danko, George L.

Title: Coordinated joint motion control system with position error correction

Patent · Tue Apr 05 00:00:00 EDT 2016

OSTI ID:1245438

Danko, George L.

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.

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Research Organization:: Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno, NV (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: FC26-04NT42087

Assignee:: Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno (Reno, NV)

Patent Number(s):: 9,304,501

Application Number:: 14/798,254

OSTI ID:: 1245438

Resource Relation:: Patent File Date: 2015 Jul 13

Country of Publication:: United States

Language:: English

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