Determining null bias of a hydraulic valve of a robot
US10611034B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 11, 2018 |
| Grant date | Apr 7, 2020 |
| Priority date | — |
| Expiry date | Jul 11, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/22
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example method includes identifying an operating state at which a velocity of a hydraulic actuator configured to operate a movable member of a robot is less than a threshold velocity and an actuator force is less than a threshold force, determining a valve command that corresponds to the operating state, such that the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, and the valve includes a spool movable within a body of the valve, and the valve command causes the spool to move within the body of the valve to a position that induces the operating state, and determining a null bias signal based on the valve command.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.