{
  "abstract": "A system for determining an angular position of a boom of a pipelayer is disclosed. The system includes a linkage, an angle sensor, and a controller. The linkage includes a first arm configured to be coupled to a frame of the pipelayer, a second arm configured to be coupled to the boom, and a pivot joint pivotally connecting the first arm to the second arm. The angle sensor is positioned at the pivot joint. The angle sensor is configured to detect a pivot angle between the first arm and the second arm. The controller is configured to determine, based on the pivot angle, the angular position of the boom relative to the frame of the pipelayer.",
  "assignees": [
    "CATERPILLAR INC"
  ],
  "authors": [
    "HOYT DANIEL WILSON"
  ],
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:11:46.334426Z",
  "publisher": "Nebula Innovations Limited",
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  "source_date": "2026-03-05",
  "source_id": "US-2026062259-A1",
  "source_name": "the United States Patent and Trademark Office",
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  "supersedes": null,
  "title": "System and method for determining position of a pipelayer boom",
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