초록 ▼

A method and apparatus for controlling a plurality of hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom. The method includes inputting a velocity command in a work implement frame of reference, determining a plurality of desired cylinder positions as

A method and apparatus for controlling a plurality of hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom. The method includes inputting a velocity command in a work implement frame of reference, determining a plurality of desired cylinder positions as a function of the velocity command, controllably moving at least one cylinder to move the work implement in at least one degree of freedom to a desired work implement position, and controllably moving at least one other cylinder to maintain the position of the work implement in at least one other degree of freedom.

대표청구항 ▼

[ What is claimed is:] [1.] A computer-based method for controlling a plurality of independently controlled hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom, the motion of each cylinder affecting multiple degrees of motion of the work implement, one

[ What is claimed is:] [1.] A computer-based method for controlling a plurality of independently controlled hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom, the motion of each cylinder affecting multiple degrees of motion of the work implement, one end of each cylinder being coupled to the work implement, including the steps of:inputting a velocity command in a work implement frame of reference;transforming the work implement frame of reference to a frame of reference indicative of a plurality of desired cylinder positions;determining the plurality of desired cylinder positions as a function of the velocity command and the transformed frame of reference, the desired cylinder positions corresponding to a desired work implement position;controllably moving at least one cylinder to move the work implement in at least one degree of freedom to the desired work implement position; andcontrollably moving at least one other cylinder to maintain the position of the work implement in at least one other degree of freedom.