OPENTECHNICAL PUBLICATION
OT-2026-000003321

Multi-variable control of multi-degree of freedom linkages

Published: 2026-09-15T20:09:23.227643Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003321
Categories: Industrial Motion & Power Transmission > Fluid Power

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ABSTRACT

The present invention provides an apparatus for controllably actuating a work
implement. The work implement includes at least a first linkage and a second
linkage. The apparatus produces a control signal, senses the position and
velocity of the first and second linkages and responsively produces position
and velocity signals. The apparatus responsively produces a command signal as
a function of the control signal and the position and velocity signals. The
command signal controls actuation of the first linkage such that dynamic
coupling between the first and second linkages is minimized.

1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

[0006] Sheet 6.

[0007] Sheet 7.

[0008] Sheet 8.

[0009] Sheet 9.

[0010] Sheet 10.

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OpenTechnical publication OT-2026-000003321
Published 2026-09-15T20:09:23.227643Z
https://opentechnical.org/p/OT-2026-000003321