Flervariabelstyrning av länksystem med flera frihetsgrader

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 pos...

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Bibliographische Detailangaben
1. Verfasser:	MICHAEL S LUKICH
Format:	Patent
Sprache:	swe
Schlagworte:	BLASTING CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROLLING DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR DREDGING FIXED CONSTRUCTIONS FLUID-PRESSURE ACTUATORS FLUID-PRESSURE ACTUATORS, e.g. SERVO-MOTORS FOUNDATIONS HAND TOOLS HEATING HYDRAULIC ENGINEERING HYDRAULICS OR PNEUMATICS IN GENERAL LIGHTING MANIPULATORS MECHANICAL ENGINEERING PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SOIL SHIFTING SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING WEAPONS
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Beschreibung
Zusammenfassung:	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.