F - Mech Eng,Light,Heat,Weapons – 15 – B
Patent
F - Mech Eng,Light,Heat,Weapons
15
B
F15B 21/08 (2006.01) E02F 9/22 (2006.01) G05D 7/06 (2006.01) F15B 13/09 (1990.01)
Patent
CA 2111190
13 PROPORTIONAL HYDRAULIC CONTROL ABSTRACT OF THE DISCLOSURE A hydraulic control system for a multi-linked manipulator arm monitors the desired flow of hydraulic fluid to each of the actuators for the links of the manipulator, and when the desired flow to any one or more of the actuators exceeds the available flow to the respective actuators, the flows to all the actuators are reduced on the basis of a scaling factor based on the ratio of theavailable flow to the desired flow of that actuator having the maximum ratio of its desired to available flows so that the relative speed of all the actuators for manipulating the arm is maintained. In some cases some actuators may have higher priority than others and a second scaling factor in which such prioritieshave been applied may also have to be applied to all the flows to reduce the relative speeds of all actuators.
Frenette Real Noel
Lawrence Peter Donald
Sepehri Nariman
Rowley C.a.
The University Of British Columbia
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