Method and device for controlling the movement of a movable part
US6476574B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2001 |
| Grant date | Nov 5, 2002 |
| Priority date | — |
| Expiry date | Feb 26, 2021 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/02
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). A control (7) controls the movement of the arm (3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd) A detector (45, 47, 49) detects the actual position of the robot arm (3) and transmits signals corresponding to the actual position to the control (7). The predicted position (Pxp, Pyp, PyP), that the robot arm (3) will pass through as it moves from the actual position to the desired position our model (S). The control (7) makes a comparison (S) of the actual positions of the arm (3) against to the predicted positions, and the movement of the robot arm (3) is modified if its actual position at any time differs by more than a predetermined amount from the predicted position at the same time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.