System and method for controlling redundant actuators of a machine
US9261872B2 · kind B2 · utility
5Cited by
1References
18Claims
0Family size
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Key dates
| Filing date | Jan 19, 2012 |
| Grant date | Feb 16, 2016 |
| Priority date | — |
| Expiry date | Oct 27, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/19
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method controls redundant actuators of a machine based on a reference trajectory. The method determines a cost function representing operations of the redundant actuators and minimizes the cost function subject to constraints to produce a sequence of commands for each actuator. The redundant actuators are controlled according to the sequences of commands.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.