Multi-variable control of multi-degree of freedom linkages

Details Multi-variable control of multi-degree of freedom linkages Multi-variable control of multi-degree of freedom linkages

1993-09-23

1995-01-24

Kwon, John T.

Motors: expansible chamber type

Working member position feedback to motive fluid control

Electrical input and feedback signal means

91513, 91517, 91459, 60426, 60427, F15B 1316, F16D 3102

Patent

active

053833902

ABSTRACT:
The present invention provides an apparatus for controllably actuating a work implement. The work implement includes at least a first linkage and a second linkage. The apparatus produces a control signal, senses the position and velocity of the first and second linkages and responsively produces position and velocity signals. The apparatus responsively produces a command signal as a function of the control signal and the position and velocity signals. The command signal controls actuation of the first linkage such that dynamic coupling between the first and second linkages is minimized.

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