Multi-variable control of multi-degree of freedom linkages

U.S. Patent Number: 5383390

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.

Inventors: Lukich; Michael S. (Peoria, IL)

Assignee: Caterpillar Inc. (Peoria, IL)

Application Number: 08/082,644

Issued: 1995-01-24

Expired: 2007-01-24

Classes: 91/361 ; 60/426; 60/427; 91/459; 91/513; 91/517

Field of search: 91/361,363R,459,513,517 60/420,426,427,433

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