Velocity-based control of end effector
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United States of America Patent
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Mar 13, 2018
Issued Date -
N/A
app pub date -
Apr 10, 2015
filing date -
Apr 10, 2015
priority date (Note) -
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status (Latency Note)
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Abstract
A control system for moving an end effector of a work machine may include sensors for determining current orientations of components of a boom assembly connected to the work machine. A controller may be configured to receive, via an input interface, signals corresponding to a velocity input command for a desired movement of the end effector. The controller may determine, based upon the velocity input command and signals from the sensors, at least one target velocity for one or more actuators for the boom assembly. Commanding the actuators to move with the at least one target velocity may cause the end effector to move with an aggregate velocity corresponding to the desired movement of the end effector, as indicated by the velocity input command.
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