OPENTECHNICAL PUBLICATION
OT-2026-000003413

Hydraulic control system

Published: 2026-09-15T20:24:44.713903Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003413
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

An articulated arm employs a controller to generate δr, δΘ and δz signals for
controlling the movement of the arm in r, Θ and z directions to product
movement of an end point from an initial location along a desired path toward
a desired location. The actual location is determined by sensing the
relationships between the arm segments and determining the actual location of
the end point. The actual location is continuously compared with the desired
location represented by the r, Θ and z signals and, if the difference between
the actual location and desired location exceeds preselected limits, the δr,
δΘ and δz are scaled down thereby redefining the desired location to ensure
that the actual arm movement does not lag an unacceptable amount relative to
the desired location.

1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

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OpenTechnical publication OT-2026-000003413
Published 2026-09-15T20:24:44.713903Z
https://opentechnical.org/p/OT-2026-000003413