High Speed Multi-Link Automated Control

by Carter J. Ward, Naval Civil Engineering Lab, United States,



Document Type: Proceeding Paper

Part of: Utilization of Ocean Waves?Wave to Energy Conversion

Abstract:

A new manipulator control technique is being investigated with potential for improving equipment life and productivity without requiring more operator training. It can retrofit to multi-link machines like backhoes and excavators. A master-slave control configuration is used with PDF feedback. It should be faster than conventional controls because the operator can move all actuators simultaneously. The movements should be smooth because the actuators work together much like the muscles in a human arm. By continually measuring link position and velocity, acceleration and the resulting bearing forces may be quickly calculated to avoid failure.

Subject Headings: Construction equipment | Equipment and machinery | Control systems | Automation and robotics | Training | Rehabilitation | Human and behavioral factors

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