Joint control system with linear actuation

Details Joint control system with linear actuation Joint control system with linear actuation

1995-01-13

1996-10-22

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318560, 318644, 318652, 318671, 318687, 310 12, B25J 918

Patent

active

055680291

ABSTRACT:
A system for controlling the operation of a tele-operated machine uses a sensor which senses the angular orientation of the joint, converts the angular orientation to a required length of the linear actuator (piston and cylinder) to obtain the then current length. A controller inputs the desired position of the joint and the system defines the length of (or flow to) the linear actuator necessary for the joint to be in the desired position based on a comparison of the desired and actual lengths of the actuator and sets the length of (or flow to) the actuator based on the required length (or flow) necessary to move the joint into the desired position i.e. to extend the length of the actuator to that required for the desired movement of the joint. Alternatively the actual and desired positions may be compared in a comparer (subtracter or adder) and the resultant signal modified based on a function of the actual position and the equipment being controlled and the modified signal is used to define the required length of or flow to the actuator.

REFERENCES:
patent: 4283886 (1991-08-01), Obear
patent: 5247743 (1993-09-01), Holloway et al.

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