OPENTECHNICAL PUBLICATION
OT-2026-000003428

Force feedback control for backhoe

Published: 2026-09-15T20:26:16.440192Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003428
Categories: Sensors, Controls & Machine Vision > Industrial Control

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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.

1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

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OpenTechnical publication OT-2026-000003428
Published 2026-09-15T20:26:16.440192Z
https://opentechnical.org/p/OT-2026-000003428