Resolved motion rate control - a technique developed for controlling robotic manipulators - is applied here to an industrial vehicle used for the handling of materials.
An on-board microprocessor is used to compute trigonometrical transformations necessary to achieve co-ordinated movement of servo-valves which control the hydraulic cylinders.
It is shown that, by this method, the operator's task is significantly eased, bringing potential benefits in speed of operation and safety.
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References
1.
Whitney, D.E.1972. 'The mathematics of co-ordinated control of prosthetic arms and manipulators'. Trans ASME J Dyn Syst Meas & Control , 12, 303-309.
2.
Love, J.G.1982. 'The application of resolved motion rate control to the JCB 520 rough-terrain materials-handling machine'. MSc thesis. Dept of Mechanical Engineering, University of Newcastle-upon-Tyne.
