Apparatus for controlling arm movement of industrial vehicle

Details Apparatus for controlling arm movement of industrial vehicle Apparatus for controlling arm movement of industrial vehicle

1988-05-26

1990-03-20

Ruggiero, Joseph

Boots, shoes, and leggings

37DIG1, 37116, 172 2, 36416701, G06F 1520, E02F 346

Patent

active

049106732

ABSTRACT:
In an industrial vehicle having at least first and second arms rotatably coupled to each other, a locus depicted by a tip of the second arm during rotation of the first and second arms is controlled. An amount of positional deviation of the tip of the second arm in the direction (compensating direction) perpendicular to the direction of the targeted locus (operating direction) is detected. A command value for the compensating velocity is determined from a command value for the operating velocity and the deviation. The driving of the first and second arms is controlled by the two velocity command values in the operating and compensating directions in such a manner that the tip of the second arm moves along the targeted locus. In short, positional feedback is provided by means of the positional deviation in the direction perpendicular to the targeted locus. In addition, the direction of the targeted locus is set as the direction of installation of an operating attachment mounted on the tip of the second arm. In an industrial vehicle further having a third arm, the second and third arms are driven in such a manner that the tip of the third arm will not deviate from the targeted locus as a result of the rotation of the first arm. At this juncture, the aforementioned feedback is also provided.

REFERENCES:
patent: 3934126 (1976-01-01), Zalesov et al.
patent: 4035621 (1977-07-01), Kemp
patent: 4630685 (1986-12-01), Huck, Jr. et al.
patent: 4677555 (1987-06-01), Goyet
patent: 4791549 (1988-12-01), Heiser et al.

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