Patent ID: 6442501
Filing Date: 2002-08-27
Classification: G05B

Abstract:
An apparatus for determining a velocity of an implement, comprising:a first processing device operable to receive a first arm limit position signal and a first arm actual position signal, the first processing device operable to determine a difference between the first arm limit position signal and the first arm actual position signal, and to transmit a first arm position error signal as a function of the difference; a second processing device coupled with the first processing device to receive the first arm position error signal and to transmit a first arm velocity signal as a function of the first arm position error signal multiplied by a first predetermined function; a third processing device operable to receive a first arm desired position signal and the first arm actual position signal, the third processing device operable to determine a difference between the first arm desired position signal and the first arm actual position signal, and to transmit a second position error signal as a function of the difference; a fourth processing device coupled with the third processing device to receive the second position error signal and to transmit a second velocity signal as a function of the second position error signal multiplied by a second predetermined function; and a fifth processing device coupled with the second and fourth processing devices to respectively receive the first arm velocity signal and the second velocity signal, the fifth processing device operable to transmit a desired velocity signal as a function of the first arm velocity signal when the first arm velocity signal has a predetermined relationship to the second velocity signal, and operable to transmit a desired velocity signal as a function of the second velocity signal when the first arm velocity signal does not have the predetermined relationship to the second velocity signal.