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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-5019761-A, on 28 May 1991. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003428

Force feedback control for backhoe

Published
Permanent URL
Classification
Sensors, Controls & Machine Vision › Industrial Control
Assignee
KRAFT BRETT W
Original source
US-5019761-A, the United States Patent and Trademark Office, 28 May 1991
Document SHA-256
ffcd5ed419d480f0f14bacb245dc97da554f018fe1ae334251b14f0b8f4d99ed

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.

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Abstract

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.

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Publication information

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Citation

OpenTechnical Publication OT-2026-000003428, “Force feedback control for backhoe,” published September 15, 2026 at 20:26:16 UTC, https://opentechnical.org/p/OT-2026-000003428.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.