公开(公告)号：US4910673A

公开(公告)日：1990-03-20

申请号：US199190

申请日：1988-05-26

申请人： Junichi Narisawa ,  Kenichiro Date ,  Kenichi Miyata ,  Yuhei Sato

发明人： Junichi Narisawa ,  Kenichiro Date ,  Kenichi Miyata ,  Yuhei Sato

IPC分类号： E02D7/16 ,  E02F3/43

CPC分类号： E02F3/437 ,  E02D7/16

摘要： 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.

摘要翻译： 在具有至少第一和第二臂彼此可旋转地联接的工业车辆中，控制在第一和第二臂旋转期间由第二臂的尖端描绘的轨迹。 检测第二臂的尖端在垂直于目标轨迹（操作方向）的方向（补偿方向）上的位置偏移量。 根据运行速度和偏差的指令值确定补偿速度的指令值。 第一臂和第二臂的驱动通过操作和补偿方向上的两个速度指令值以使得第二臂的尖端沿着目标轨迹移动的方式来控制。 简而言之，通过垂直于目标轨迹的方向上的位置偏差来提供位置反馈。 此外，目标轨迹的方向被设定为安装在第二臂的尖端上的操作附件的安装方向。 在具有第三臂的工业车辆中，第二臂和第三臂被驱动，使得第三臂的尖端由于第一臂的旋转而不会偏离目标轨迹。 此时也提供上述反馈。